Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigati: WorkSite::WorkSite -- Finished loading parameters
onS: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
erv: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
er
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
Sup: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
ervi: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
sor: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
::: WorkSite server: 0x2300c
createTask() - layeredCon: New Navigation component constructor
trolServer
Supervisor::createTask() - dyn: Navigation - Using only the Dvl to compute altitude.
amicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Supervisor::createTask() - gpsServer
Supervisor::createTask(: SerialDevice: done...

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

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

e: SerialDevice: done...

r
Su: SerialDevice: done...

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

isor::: SerialDevice: done...

createTask() - fanServer
Supervisor: Gps: initializing

:: SerialDevice: done...

:c: SerialDevice: done...

reateTa: SerialDevice: done...

sk() -: SerialDevice: done...

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

rvisor::crea: SerialDevice: done...

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

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

sk() - echoSounderServe:  DropWeight::initialize - Resetting counters.
r
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

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

: CameraDriver:: Before navigation IF.
: ahrs if is Ahrs

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

: EchoSounder -- configuration:
	Maximum Range  = 40 m
	StartGain      = 10 dB
	Absorption     = 0.20 dB/m
	Pulse Length   = 110 microseconds
	Minimum Range  = 0.10 m
	Trigger Control= 0 
	Profile        = 0
	Delay          = 0 milliseconds
	xz mounting an.= 90.00 degrees
	head angle     = -90.00 degrees

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

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6380

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

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

: EX10011
>
: EA+04238
>
: WP0001
>
: WN25
>
:  Dvl::initialize - The number of cells is 25.

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

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

: **** EventTriggers::add() - attaching proxy
: header is S
7D0

:  Dvl record header not found.  Resynchronize.

: SerialDevice: done...

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 3638.61315,N,12152.51629,W,1,10,0.8,-1.74,M,-33.23,M,,*75

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,175452.00,3638.61314,N,12152.51600,W,1,10,0.8,-0.99,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,175453.00,3638.61292,N,12152.51552,W,1,10,0.8,-0.71,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,175454.00,3638.61276,N,12152.51492,W,1,10,0.8,-0.79,M,-33.23,M,,*7A

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,175455.00,3638.61263,N,12152.51456,W,1,10,0.8,-1.45,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,175456.00,3638.61270,N,12152.51435,W,1,10,0.8,-2.16,M,-33.23,M,,*78

: Parosci.cc -- Initial pressure = 0.068948
: AshtechGps::processRecord() - $GPGGA,175457.00,3638.61271,N,12152.51443,W,1,10,0.8,-2.96,M,-33.23,M,,*71

: Parosci.cc -- Parosci initial pressure period = 30.139060
: Parosci.cc -- Parosci initial temp period = 5.842503
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 957274117
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175458.00,3638.61294,N,12152.51474,W,1,10,0.8,-3.27,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,175459.00,3638.61311,N,12152.51505,W,1,11,0.8,-3.18,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,175500.00,3638.61328,N,12152.51527,W,1,10,0.8,-2.79,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,175501.00,3638.61335,N,12152.51535,W,1,10,0.8,-2.28,M,-33.23,M,,*77

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

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.400000, D:0.000000, U:0.000000, Q:-nan

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,175502.00,3638.61339,N,12152.51522,W,1,10,0.8,-2.08,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,175503.00,3638.61340,N,12152.51509,W,1,10,0.8,-1.96,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,175504.00,3638.61334,N,12152.51502,W,1,10,0.8,-1.98,M,-33.23,M,,*7F

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,175505.00,3638.61339,N,12152.51501,W,1,10,0.8,-1.78,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,175506.00,3638.61339,N,12152.51488,W,1,10,0.8,-1.20,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,175507.00,3638.61326,N,12152.51452,W,1,10,0.8,-1.36,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,175508.00,3638.61317,N,12152.51426,W,1,10,0.8,-1.86,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,175509.00,3638.61325,N,12152.51428,W,1,10,0.8,-2.29,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,175510.00,3638.61337,N,12152.51434,W,1,10,0.8,-2.46,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,175511.00,3638.61347,N,12152.51437,W,1,10,0.8,-2.66,M,-33.23,M,,*7A

: 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
: AshtechGps::processRecord() - $GPGGA,175512.00,3638.61354,N,12152.51453,W,1,10,0.8,-2.76,M,-33.23,M,,*78

: **** 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,175513.00,3638.61357,N,12152.51475,W,1,10,0.8,-2.55,M,-33.23,M,,*7F

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456212367
: 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,175514.00,3638.61364,N,12152.51488,W,1,10,0.8,-2.50,M,-33.23,M,,*7F

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,175515.00,3638.61367,N,12152.51486,W,1,10,0.8,-2.34,M,-33.23,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: AshtechGps::processRecord() - $GPGGA,175516.00,3638.61383,N,12152.51461,W,1,11,0.8,-1.43,M,-33.23,M,,*73

: 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,175517.00,3638.61382,N,12152.51446,W,1,11,0.8,-1.30,M,-33.23,M,,*72

: 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,175518.00,3638.61387,N,12152.51435,W,1,11,0.8,-1.34,M,-33.23,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,175519.00,3638.61384,N,12152.51436,W,1,11,0.8,-1.45,M,-33.23,M,,*7F

: 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,175520.00,3638.61389,N,12152.51430,W,1,11,0.8,-1.37,M,-33.23,M,,*7B

: 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,175521.00,3638.61384,N,12152.51418,W,1,11,0.8,-1.33,M,-33.23,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.799397) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.799397) Behavior setpoint:-1 has changed to state Active

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 955630117
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175522.00,3638.61387,N,12152.51394,W,1,11,0.8,-1.36,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,175523.00,3638.61382,N,12152.51380,W,1,11,0.8,-1.61,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175524.00,3638.61383,N,12152.51377,W,1,11,0.8,-1.99,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175525.00,3638.61396,N,12152.51379,W,1,11,0.8,-2.10,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,175526.00,3638.61403,N,12152.51383,W,1,11,0.8,-2.00,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175527.00,3638.61407,N,12152.51382,W,1,11,0.8,-1.87,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175528.00,3638.61403,N,12152.51379,W,1,11,0.8,-1.54,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175529.00,3638.61392,N,12152.51363,W,1,11,0.8,-1.14,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,175530.00,3638.61378,N,12152.51321,W,1,11,0.8,-1.06,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455047867
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175531.00,3638.61359,N,12152.51271,W,1,11,0.8,-1.09,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175532.00,3638.61344,N,12152.51212,W,1,11,0.8,-0.99,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,175533.00,3638.61311,N,12152.51165,W,1,11,0.8,-1.09,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175534.00,3638.61279,N,12152.51105,W,1,11,0.8,-1.48,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175535.00,3638.61240,N,12152.51081,W,1,11,0.8,-1.73,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175536.00,3638.61210,N,12152.51049,W,1,11,0.8,-1.91,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,175537.00,3638.61172,N,12152.51033,W,1,11,0.8,-2.04,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175538.00,3638.61136,N,12152.51013,W,1,11,0.8,-1.96,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954465617
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175539.00,3638.61090,N,12152.51008,W,1,11,0.8,-1.94,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,175540.00,3638.61042,N,12152.51004,W,1,11,0.8,-1.70,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175541.00,3638.60987,N,12152.51001,W,1,11,0.8,-1.57,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175542.00,3638.60928,N,12152.51001,W,1,11,0.8,-1.27,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175543.00,3638.60864,N,12152.50982,W,1,11,0.8,-0.90,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,175544.00,3638.60800,N,12152.50978,W,1,11,0.8,-0.69,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175545.00,3638.60737,N,12152.50968,W,1,11,0.8,-0.67,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175546.00,3638.60666,N,12152.50944,W,1,11,0.8,-0.67,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,175547.00,3638.60588,N,12152.50905,W,1,11,0.8,-0.56,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 453883367
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175548.00,3638.60511,N,12152.50873,W,1,11,0.8,-1.11,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175549.00,3638.60444,N,12152.50878,W,1,11,0.8,-1.93,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175550.00,3638.60394,N,12152.50900,W,1,11,0.8,-2.41,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,175551.00,3638.60352,N,12152.50943,W,1,11,0.8,-2.43,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175552.00,3638.60311,N,12152.50975,W,1,11,0.8,-2.11,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175553.00,3638.60258,N,12152.50987,W,1,11,0.8,-1.74,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,175554.00,3638.60194,N,12152.50970,W,1,11,0.8,-1.29,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175555.00,3638.60118,N,12152.50966,W,1,11,0.8,-0.71,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953301117
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175556.00,3638.60035,N,12152.50919,W,1,11,0.8,-0.31,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175557.00,3638.59944,N,12152.50876,W,1,11,0.8,-0.49,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,175558.00,3638.59860,N,12152.50847,W,1,11,0.8,-1.02,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175559.00,3638.59793,N,12152.50851,W,1,11,0.8,-1.54,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175600.00,3638.59739,N,12152.50862,W,1,11,0.8,-1.83,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,175601.00,3638.59681,N,12152.50861,W,1,11,0.8,-1.66,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175602.00,3638.59615,N,12152.50848,W,1,11,0.8,-1.42,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175603.00,3638.59543,N,12152.50827,W,1,11,0.8,-1.27,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175604.00,3638.59463,N,12152.50802,W,1,11,0.8,-1.24,M,-33.23,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452718867
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175605.00,3638.59386,N,12152.50776,W,1,11,0.8,-1.43,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175606.00,3638.59323,N,12152.50781,W,1,11,0.8,-1.97,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175607.00,3638.59274,N,12152.50796,W,1,11,0.8,-2.35,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,175608.00,3638.59226,N,12152.50827,W,1,11,0.8,-2.11,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175609.00,3638.59170,N,12152.50843,W,1,11,0.8,-1.77,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175610.00,3638.59105,N,12152.50830,W,1,11,0.8,-1.41,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175611.00,3638.59026,N,12152.50809,W,1,11,0.8,-0.59,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,175612.00,3638.58943,N,12152.50758,W,1,11,0.8,-0.25,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 952136617
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175613.00,3638.58862,N,12152.50726,W,1,11,0.8,-0.62,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175614.00,3638.58794,N,12152.50697,W,1,11,0.8,-1.33,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,175615.00,3638.58725,N,12152.50699,W,1,11,0.8,-1.69,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175616.00,3638.58653,N,12152.50681,W,1,11,0.8,-1.90,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175617.00,3638.58590,N,12152.50673,W,1,11,0.8,-2.04,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175618.00,3638.58534,N,12152.50679,W,1,11,0.8,-1.88,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,175619.00,3638.58472,N,12152.50683,W,1,11,0.8,-1.76,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175620.00,3638.58406,N,12152.50695,W,1,11,0.8,-1.99,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175621.00,3638.58345,N,12152.50687,W,1,11,0.8,-2.06,M,-33.23,M,,*7D

: LayeredControl::execute() -- (t = 68.995273) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 68.995273) Behavior descend:-1 has changed to state Active

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 451554367
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175622.00,3638.58284,N,12152.50695,W,1,11,0.8,-1.79,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175623.00,3638.58221,N,12152.50674,W,1,11,0.8,-1.30,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175624.00,3638.58148,N,12152.50664,W,1,11,0.8,-0.88,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175625.00,3638.58072,N,12152.50640,W,1,11,0.8,-0.66,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,175626.00,3638.57990,N,12152.50606,W,1,11,0.8,-0.51,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175627.00,3638.57900,N,12152.50546,W,1,11,0.8,-0.69,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175628.00,3638.57814,N,12152.50515,W,1,11,0.8,-1.40,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,175629.00,3638.57755,N,12152.50531,W,1,11,0.8,-2.00,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 950972117
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175630.00,3638.57714,N,12152.50553,W,1,11,0.8,-2.17,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175631.00,3638.57665,N,12152.50559,W,1,11,0.8,-2.04,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175632.00,3638.57608,N,12152.50570,W,1,11,0.8,-1.87,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,175633.00,3638.57537,N,12152.50579,W,1,11,0.8,-1.45,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175634.00,3638.57457,N,12152.50560,W,1,11,0.8,-0.88,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175635.00,3638.57371,N,12152.50523,W,1,11,0.8,-0.72,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,175636.00,3638.57289,N,12152.50499,W,1,11,0.8,-0.97,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175637.00,3638.57213,N,12152.50481,W,1,11,0.8,-1.35,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175638.00,3638.57147,N,12152.50471,W,1,11,0.8,-1.77,M,-33.23,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 450389867
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175639.00,3638.57087,N,12152.50485,W,1,11,0.8,-1.95,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,175640.00,3638.57031,N,12152.50492,W,1,11,0.8,-1.96,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175641.00,3638.56968,N,12152.50493,W,1,11,0.8,-1.80,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175642.00,3638.56914,N,12152.50478,W,1,11,0.8,-1.76,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,175643.00,3638.56897,N,12152.50553,W,1,10,0.8,1.43,M,-33.23,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175644.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175645.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175646.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 949807617
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175647.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175648.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175649.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175650.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175651.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175652.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175653.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175654.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175655.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449225367
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175656.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175657.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175658.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,175659.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175700.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175701.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175702.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175703.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175704.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175705.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175706.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175707.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 448403367
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175708.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175709.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175710.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175711.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175712.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175713.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175714.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175715.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 947821117
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175716.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175717.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175718.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175719.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175720.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175721.00,,,,,0,00,,,M,,M,,*4F

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 9.115417 > 9.000000 at time 128.801176

: LayeredControl::execute() -- (t = 128.801176) Behavior descend:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 128.80                            (wplog)
  The current location (N,E) = 4055788.7      , 600559.3         (wplog)
  The next waypoint          = 4054086.8      , 600378.4         (wplog)
  The bearing to the next w.p. is 186.1 Degrees.

: LayeredControl::execute() -- (t = 128.801176) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,175722.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175723.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175724.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 457238182
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175725.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175726.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175727.00,,,,,0,00,,,M,,M,,*49

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

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,175728.00,,,,,0,00,,,M,,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175729.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175730.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175731.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175732.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175733.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175734.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175735.00,,,,,0,00,,,M,,M,,*4A

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175736.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456416182
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175737.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175738.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175739.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175740.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175741.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175742.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175743.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175744.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 955833932
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175745.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175746.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175747.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175748.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175749.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175750.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175751.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175752.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175753.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455251682
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175754.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175755.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175756.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175757.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175758.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175759.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175800.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175801.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954669432
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175802.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175803.00,,,,,0,00,,,M,,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175804.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175805.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175806.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175807.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175808.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175809.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175810.00,,,,,0,00,,,M,,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454087182
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175811.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175812.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175813.00,,,,,0,00,,,M,,M,,*41

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

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

: AshtechGps::processRecord() - $GPGGA,175814.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175815.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175816.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175817.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175818.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175819.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175820.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175821.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175822.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 453265182
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175823.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175824.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175825.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175826.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175827.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175828.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175829.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175830.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 952682932
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175831.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175832.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175833.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175834.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.000000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,175835.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175836.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175837.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175838.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175839.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175840.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175841.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175842.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 951860932
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175843.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175844.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175845.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175846.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,175847.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175848.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175849.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175850.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175851.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175852.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175853.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175854.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 951038932
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175855.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175856.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175857.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175858.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175859.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175900.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175901.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175902.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175903.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 450456682
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175904.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175905.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175906.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175907.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175908.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175909.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175910.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175911.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 949874432
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175912.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175913.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175914.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175915.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175916.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175917.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175918.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175919.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175920.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449292182
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175921.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175922.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175923.00,,,,,0,00,,,M,,M,,*43

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

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

: AshtechGps::processRecord() - $GPGGA,175924.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175925.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175926.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175927.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175928.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175929.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175930.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175931.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175932.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 448470182
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175933.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175934.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175935.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175936.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175937.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175938.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175939.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175940.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 947887932
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175941.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175942.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175943.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175944.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175945.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175946.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175947.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175948.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175949.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 457304997
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175950.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175951.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175952.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175953.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175954.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175955.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175956.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,175957.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 956722747
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,175958.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,175959.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180000.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180001.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180002.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180003.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180004.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180005.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180006.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456140497
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180007.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180008.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180009.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,180010.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180011.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180012.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180013.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180014.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180015.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180016.00,,,,,0,00,,,M,,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180017.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180018.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455318497
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180019.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180020.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180021.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	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,180022.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180023.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180024.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180025.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180026.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180027.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180028.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180029.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180030.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454496497
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180031.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180032.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180033.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180034.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180035.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180036.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180037.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180038.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953914247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180039.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180040.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180041.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180042.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180043.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180044.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180045.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180046.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180047.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 453331997
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180048.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180049.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180050.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180051.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180052.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180053.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180054.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180055.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 952749747
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180056.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180057.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180058.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180059.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180100.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180101.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180102.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180103.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180104.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452167497
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180105.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180106.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180107.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180108.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180109.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180110.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180111.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180112.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 951585247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180113.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180114.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180115.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180116.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180117.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180118.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180119.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180120.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180121.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 451002997
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180122.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180123.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180124.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180125.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180126.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180127.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180128.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180129.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 950420747
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180130.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180131.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180132.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180133.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180134.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180135.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180136.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180137.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180138.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449838497
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180139.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180140.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180141.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,180142.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180143.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180144.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180145.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180146.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180147.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180148.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180149.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180150.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449016497
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180151.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180152.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180153.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180154.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180155.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180156.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180157.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180158.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 948434247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180159.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180200.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180201.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180202.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180203.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180204.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180205.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180206.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180207.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 447851997
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180208.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180209.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180210.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180211.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180212.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180213.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180214.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180215.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 957269062
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180216.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180217.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180218.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180219.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180220.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180221.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180222.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180223.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180224.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456686812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180225.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180226.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180227.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180228.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180229.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180230.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180231.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180232.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 956104562
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180233.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180234.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180235.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180236.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180237.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180238.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180239.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180240.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180241.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455522312
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180242.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180243.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180244.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180245.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180246.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180247.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180248.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180249.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180250.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180251.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180252.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454768812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180253.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180254.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180255.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180256.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180257.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180258.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180259.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180300.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954186562
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180301.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180302.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180303.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180304.00,,,,,0,00,,,M,,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180305.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180306.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180307.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180308.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180309.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180310.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180311.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953433062
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180312.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180313.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180314.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180315.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180316.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180317.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180318.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180319.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180320.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452850812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180321.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180322.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180323.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,180324.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180325.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180326.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180327.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180328.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180329.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180330.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180331.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180332.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452028812
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180333.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180334.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180335.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.200000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,180336.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180337.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180338.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180339.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180340.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180341.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180342.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180343.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180344.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 451206812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180345.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180346.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180347.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.600000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,180348.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180349.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180350.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180351.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180352.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180353.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180354.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180355.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180356.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180357.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180358.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180359.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180400.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180401.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180402.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180403.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180404.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180405.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180406.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449699812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180407.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180408.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180409.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180410.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180411.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180412.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180413.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180414.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 949117562
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180415.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180416.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180417.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180418.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180419.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180420.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180421.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180422.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180423.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180424.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180425.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180426.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180427.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180428.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180429.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180430.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 948021562
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180431.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180432.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180433.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180434.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180435.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180436.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180437.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180438.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180439.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 447439312
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180440.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180441.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180442.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180443.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180444.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180445.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180446.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180447.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 956856377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180448.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180449.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180450.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180451.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180452.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180453.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180454.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180455.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180456.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180457.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180458.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 956102877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180459.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180500.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180501.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180502.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180503.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180504.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180505.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180506.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180507.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180508.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180509.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180510.00,,,,,0,00,,,M,,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180511.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455246627
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180512.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180513.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180514.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180515.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180516.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180517.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180518.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180519.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954664377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180520.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180521.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180522.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180523.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180524.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180525.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180526.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180527.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180528.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454082127
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180529.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180530.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180531.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180532.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180533.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180534.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180535.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180536.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180537.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180538.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180539.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180540.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180541.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180542.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953088877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180543.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180544.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180545.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180546.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180547.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180548.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180549.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180550.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180551.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180552.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180553.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452369627
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180554.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180555.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180556.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180557.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180558.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180559.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180600.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180601.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180602.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180603.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 951650377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180604.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180605.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180606.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180607.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180608.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180609.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180610.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180611.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180612.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180613.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180614.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180615.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180616.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180617.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180618.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180619.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180620.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180621.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180622.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180623.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180624.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180625.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180626.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 380113922
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180627.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180628.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180629.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180630.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180631.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180632.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180633.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180634.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180635.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180636.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 949389877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180637.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180638.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180639.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180640.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180641.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180642.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180643.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180644.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230055599
: AshtechGps::processRecord() - $GPGGA,180645.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180646.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180647.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180648.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180649.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180650.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180651.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180652.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180653.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180654.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 448191127
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180655.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180656.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180657.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180658.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180659.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180700.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180701.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180702.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180703.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180704.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 997468452
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180705.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180706.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180707.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180708.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180709.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180710.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180711.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180712.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180713.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180714.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180715.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456751942
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180716.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180717.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180718.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180719.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180720.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.25
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.700000, D:0.000000, U:0.000000, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,180721.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 729.000060) Behavior waypoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 729.000060) Behavior ascend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180722.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180723.00,,,,,0,00,,,M,,M,,*47

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180724.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180725.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180726.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180727.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180728.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180729.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180730.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180731.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180732.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180733.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180734.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180735.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455381942
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180736.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180737.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180738.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180739.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180740.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180741.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180742.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180743.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954799692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180744.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180745.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180746.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180747.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180748.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180749.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180750.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180751.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180752.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454217442
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180753.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180754.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180755.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180756.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180757.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180758.00,,,,,0,00,,,M,,M,,*4B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180759.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180800.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953635192
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180801.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180802.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180803.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180804.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180805.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180806.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180807.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180808.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180809.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 453052942
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180810.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180811.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180812.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180813.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180814.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180815.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180816.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180817.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 952470692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180818.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180819.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180820.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180821.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180822.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180823.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 790.995813) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 790.995813) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,180824.00,,,,,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,180825.00,,,,,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,180826.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 451888442
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180827.00,,,,,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,180828.00,,,,,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,180829.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180830.00,,,,,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,180831.00,,,,,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,180832.00,,,,,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,180833.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180834.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 951306192
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180835.00,,,,,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,180836.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180837.00,,,,,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,180838.00,,,,,0,00,,,M,,M,,*42

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180839.00,,,,,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,180840.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180841.00,,,,,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,180842.00,,,,,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,180843.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180844.00,,,,,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,180845.00,,,,,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,180846.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 950484192
: 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,180847.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180848.00,3638.14554,N,12152.51900,W,1,10,0.8,-0.24,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,180849.00,3638.14481,N,12152.51868,W,1,10,0.8,-1.02,M,-33.23,M,,*78

: 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,180850.00,3638.14456,N,12152.51844,W,1,10,0.8,-2.04,M,-33.23,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.600000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,180851.00,3638.14444,N,12152.51842,W,1,10,0.8,-1.68,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,180852.00,3638.14438,N,12152.51847,W,1,10,0.8,-1.61,M,-33.23,M,,*78

: 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,180853.00,3638.14423,N,12152.51846,W,1,10,0.8,-1.99,M,-33.23,M,,*75

: 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,180854.00,3638.14432,N,12152.51856,W,1,10,0.8,-2.10,M,-33.23,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,180855.00,3638.14439,N,12152.51863,W,1,10,0.8,-1.89,M,-33.23,M,,*7E

: 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,180856.00,3638.14441,N,12152.51861,W,1,10,0.8,-1.74,M,-33.23,M,,*72

: 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,180857.00,3638.14443,N,12152.51859,W,1,10,0.8,-1.56,M,-33.23,M,,*7A

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 824.793498) 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 = 824.993484) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 824.993484) Behavior missionTimer:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,180858.00,3638.14443,N,12152.51840,W,1,10,0.8,-1.21,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 949662192
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180859.00,3638.14446,N,12152.51803,W,1,11,0.8,-1.12,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180900.00,3638.14437,N,12152.51772,W,1,11,0.8,-1.13,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,180901.00,3638.14435,N,12152.51753,W,1,11,0.8,-1.15,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180902.00,3638.14424,N,12152.51740,W,1,11,0.8,-1.29,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180903.00,3638.14426,N,12152.51723,W,1,11,0.8,-1.50,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180904.00,3638.14427,N,12152.51715,W,1,11,0.8,-1.95,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,180905.00,3638.14432,N,12152.51724,W,1,10,0.9,-2.17,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180906.00,3638.14437,N,12152.51736,W,1,10,0.9,-1.86,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180907.00,3638.14438,N,12152.51740,W,1,10,0.9,-1.39,M,-33.23,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449079942
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180908.00,3638.14440,N,12152.51727,W,1,10,0.9,-1.09,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180909.00,3638.14431,N,12152.51708,W,1,10,0.9,-1.16,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180910.00,3638.14426,N,12152.51684,W,1,10,0.9,-1.27,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180911.00,3638.14424,N,12152.51666,W,1,10,0.9,-1.50,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,180912.00,3638.14420,N,12152.51656,W,1,10,0.9,-1.91,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180913.00,3638.14427,N,12152.51660,W,1,10,0.9,-2.08,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180914.00,3638.14475,N,12152.51598,W,1,11,0.8,-2.53,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,180915.00,3638.14474,N,12152.51608,W,1,11,0.8,-2.24,M,-33.23,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 948497692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180916.00,3638.14471,N,12152.51603,W,1,11,0.8,-2.04,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180917.00,3638.14451,N,12152.51604,W,1,11,0.8,-1.80,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180918.00,3638.14449,N,12152.51596,W,1,11,0.8,-1.71,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,180919.00,3638.14434,N,12152.51572,W,1,11,0.8,-1.52,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180920.00,3638.14424,N,12152.51538,W,1,11,0.8,-1.62,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180921.00,3638.14421,N,12152.51524,W,1,11,0.8,-1.93,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,180922.00,3638.14424,N,12152.51526,W,1,11,0.8,-2.07,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180923.00,3638.14431,N,12152.51533,W,1,11,0.8,-2.16,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180924.00,3638.14439,N,12152.51542,W,1,11,0.8,-2.10,M,-33.23,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 447915442
: 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,180925.00,3638.14447,N,12152.51553,W,1,11,0.8,-1.90,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,180926.00,3638.14448,N,12152.51560,W,1,11,0.8,-1.50,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180927.00,3638.14439,N,12152.51544,W,1,11,0.8,-1.38,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180928.00,3638.14431,N,12152.51505,W,1,11,0.8,-1.62,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,180929.00,3638.14432,N,12152.51487,W,1,11,0.8,-1.67,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180930.00,3638.14429,N,12152.51493,W,1,11,0.8,-1.63,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180931.00,3638.14428,N,12152.51485,W,1,11,0.8,-1.52,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180932.00,3638.14423,N,12152.51452,W,1,11,0.8,-1.82,M,-33.23,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 947333192
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180933.00,3638.14430,N,12152.51432,W,1,11,0.8,-2.09,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180934.00,3638.14442,N,12152.51446,W,1,11,0.8,-2.32,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180935.00,3638.14456,N,12152.51478,W,1,11,0.8,-2.10,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,180936.00,3638.14464,N,12152.51490,W,1,11,0.8,-1.18,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180937.00,3638.14447,N,12152.51458,W,1,11,0.8,-0.66,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180938.00,3638.14437,N,12152.51398,W,1,11,0.8,-0.88,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180939.00,3638.14418,N,12152.51365,W,1,11,0.8,-1.10,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,180940.00,3638.14424,N,12152.51355,W,1,11,0.8,-1.71,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180941.00,3638.14434,N,12152.51374,W,1,11,0.8,-2.15,M,-33.23,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456750257
: 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,180942.00,3638.14450,N,12152.51398,W,1,11,0.8,-2.30,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,180943.00,3638.14462,N,12152.51409,W,1,11,0.8,-2.04,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180944.00,3638.14465,N,12152.51404,W,1,11,0.8,-1.76,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: 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:***************************************

: AshtechGps::processRecord() - $GPGGA,180945.00,3638.14470,N,12152.51392,W,1,11,0.8,-1.47,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180946.00,3638.14462,N,12152.51377,W,1,11,0.8,-1.31,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,180947.00,3638.14459,N,12152.51360,W,1,11,0.8,-1.12,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180948.00,3638.14452,N,12152.51338,W,1,11,0.8,-1.17,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180949.00,3638.14444,N,12152.51322,W,1,11,0.8,-1.31,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,180950.00,3638.14443,N,12152.51308,W,1,11,0.8,-1.44,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180951.00,3638.14444,N,12152.51313,W,1,11,0.8,-1.87,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180952.00,3638.14457,N,12152.51331,W,1,11,0.8,-1.86,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180953.00,3638.14465,N,12152.51337,W,1,11,0.8,-1.95,M,-33.23,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 455928257
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,180954.00,3638.14468,N,12152.51329,W,1,11,0.8,-1.92,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180955.00,3638.14471,N,12152.51322,W,1,11,0.8,-1.65,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180956.00,3638.14473,N,12152.51311,W,1,11,0.8,-1.52,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,180957.00,3638.14470,N,12152.51294,W,1,11,0.8,-1.30,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180958.00,3638.14459,N,12152.51272,W,1,11,0.8,-1.28,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180959.00,3638.14454,N,12152.51261,W,1,11,0.8,-1.70,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181000.00,3638.14461,N,12152.51265,W,1,11,0.8,-2.14,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181001.00,3638.14474,N,12152.51280,W,1,11,0.8,-2.27,M,-33.23,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 955346007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181002.00,3638.14482,N,12152.51292,W,1,11,0.8,-1.73,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181003.00,3638.14489,N,12152.51281,W,1,11,0.8,-1.33,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,181004.00,3638.14485,N,12152.51268,W,1,11,0.8,-1.10,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181005.00,3638.14483,N,12152.51249,W,1,11,0.8,-0.81,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181006.00,3638.14471,N,12152.51229,W,1,11,0.8,-0.95,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181007.00,3638.14461,N,12152.51214,W,1,11,0.8,-1.35,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,181008.00,3638.14470,N,12152.51210,W,1,11,0.8,-1.82,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181009.00,3638.14474,N,12152.51227,W,1,11,0.8,-2.05,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181010.00,3638.14490,N,12152.51235,W,1,11,0.8,-2.15,M,-33.23,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454763757
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181011.00,3638.14486,N,12152.51254,W,1,11,0.8,-1.92,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181012.00,3638.14500,N,12152.51252,W,1,11,0.8,-1.83,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181013.00,3638.14499,N,12152.51242,W,1,11,0.8,-1.46,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181014.00,3638.14503,N,12152.51219,W,1,11,0.8,-1.50,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181015.00,3638.14505,N,12152.51211,W,1,11,0.8,-1.45,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181016.00,3638.14501,N,12152.51207,W,1,11,0.8,-1.54,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181017.00,3638.14505,N,12152.51202,W,1,11,0.8,-1.63,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,181018.00,3638.14504,N,12152.51206,W,1,11,0.8,-1.50,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954181507
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181019.00,3638.14509,N,12152.51190,W,1,11,0.8,-1.69,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181020.00,3638.14501,N,12152.51187,W,1,11,0.8,-1.71,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181021.00,3638.14505,N,12152.51174,W,1,11,0.8,-1.50,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181022.00,3638.14499,N,12152.51154,W,1,11,0.8,-1.45,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181023.00,3638.14497,N,12152.51145,W,1,11,0.8,-1.76,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181024.00,3638.14512,N,12152.51158,W,1,11,0.8,-2.09,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,181025.00,3638.14523,N,12152.51177,W,1,11,0.8,-2.14,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181026.00,3638.14527,N,12152.51179,W,1,11,0.8,-2.10,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181027.00,3638.14523,N,12152.51168,W,1,11,0.8,-1.94,M,-33.23,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 453599257
: 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,181028.00,3638.14520,N,12152.51163,W,1,11,0.8,-1.85,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181029.00,3638.14531,N,12152.51145,W,1,11,0.8,-1.77,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181030.00,3638.14527,N,12152.51141,W,1,11,0.8,-1.78,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181031.00,3638.14534,N,12152.51136,W,1,11,0.8,-1.68,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,181032.00,3638.14533,N,12152.51126,W,1,11,0.8,-1.48,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181033.00,3638.14535,N,12152.51108,W,1,11,0.8,-1.29,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181034.00,3638.14526,N,12152.51094,W,1,11,0.8,-1.19,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181035.00,3638.14506,N,12152.51085,W,1,11,0.8,-1.34,M,-33.23,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953017007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181036.00,3638.14507,N,12152.51071,W,1,11,0.8,-1.77,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181037.00,3638.14515,N,12152.51074,W,1,11,0.8,-1.90,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181038.00,3638.14525,N,12152.51077,W,1,11,0.8,-2.05,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181039.00,3638.14535,N,12152.51096,W,1,11,0.8,-2.20,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181040.00,3638.14552,N,12152.51118,W,1,11,0.8,-2.06,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181041.00,3638.14562,N,12152.51136,W,1,11,0.8,-1.98,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181042.00,3638.14568,N,12152.51144,W,1,11,0.8,-1.77,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181043.00,3638.14575,N,12152.51128,W,1,11,0.8,-1.46,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181044.00,3638.14573,N,12152.51107,W,1,11,0.8,-1.27,M,-33.23,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452434757
: 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,181045.00,3638.14569,N,12152.51085,W,1,11,0.8,-1.07,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,181046.00,3638.14559,N,12152.51063,W,1,11,0.8,-1.03,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181047.00,3638.14553,N,12152.51032,W,1,11,0.8,-1.24,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181048.00,3638.14546,N,12152.51020,W,1,11,0.8,-1.56,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181049.00,3638.14552,N,12152.51009,W,1,11,0.8,-1.97,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,181050.00,3638.14558,N,12152.51012,W,1,11,0.8,-2.22,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181051.00,3638.14572,N,12152.51019,W,1,11,0.8,-2.37,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181052.00,3638.14583,N,12152.51045,W,1,11,0.8,-2.36,M,-33.23,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 951852507
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181053.00,3638.14599,N,12152.51064,W,1,11,0.8,-2.22,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181054.00,3638.14607,N,12152.51082,W,1,11,0.8,-2.03,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181055.00,3638.14613,N,12152.51089,W,1,11,0.8,-1.94,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181056.00,3638.14622,N,12152.51090,W,1,11,0.8,-1.64,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,181057.00,3638.14630,N,12152.51080,W,1,11,0.8,-0.97,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181058.00,3638.14619,N,12152.51052,W,1,11,0.8,-0.57,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181059.00,3638.14603,N,12152.51010,W,1,11,0.8,-0.58,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181100.00,3638.14589,N,12152.50980,W,1,11,0.8,-0.97,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181101.00,3638.14591,N,12152.50959,W,1,11,0.8,-1.47,M,-33.23,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 451270257
: 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,181102.00,3638.14589,N,12152.50976,W,1,11,0.8,-2.02,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181103.00,3638.14600,N,12152.50991,W,1,11,0.8,-2.40,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,181104.00,3638.14607,N,12152.51012,W,1,11,0.8,-2.50,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: 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:***************************************

: AshtechGps::processRecord() - $GPGGA,181105.00,3638.14621,N,12152.51024,W,1,11,0.8,-2.41,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181106.00,3638.14634,N,12152.51042,W,1,11,0.8,-2.29,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,181107.00,3638.14647,N,12152.51055,W,1,11,0.8,-1.96,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181108.00,3638.14658,N,12152.51055,W,1,11,0.8,-1.88,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181109.00,3638.14659,N,12152.51055,W,1,11,0.8,-1.65,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181110.00,3638.14663,N,12152.51039,W,1,11,0.8,-1.17,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181111.00,3638.14656,N,12152.51017,W,1,11,0.8,-0.93,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181112.00,3638.14647,N,12152.50990,W,1,11,0.8,-0.87,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181113.00,3638.14638,N,12152.50968,W,1,11,0.8,-1.01,M,-33.23,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 450448257
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181114.00,3638.14627,N,12152.50955,W,1,11,0.8,-1.27,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181115.00,3638.14630,N,12152.50930,W,1,11,0.8,-1.66,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181116.00,3638.14625,N,12152.50932,W,1,11,0.8,-2.11,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181117.00,3638.14639,N,12152.50946,W,1,11,0.8,-2.52,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,181118.00,3638.14647,N,12152.50973,W,1,11,0.8,-2.99,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181119.00,3638.14668,N,12152.51007,W,1,11,0.8,-2.88,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181120.00,3638.14687,N,12152.51033,W,1,11,0.8,-2.42,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181121.00,3638.14688,N,12152.51035,W,1,11,0.8,-1.70,M,-33.23,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 949866007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181122.00,3638.14690,N,12152.51009,W,1,11,0.8,-1.02,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181123.00,3638.14673,N,12152.50977,W,1,11,0.8,-0.53,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181124.00,3638.14659,N,12152.50924,W,1,11,0.8,-0.58,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181125.00,3638.14636,N,12152.50897,W,1,11,0.8,-1.09,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181126.00,3638.14642,N,12152.50881,W,1,11,0.8,-1.87,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181127.00,3638.14649,N,12152.50908,W,1,11,0.8,-2.47,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181128.00,3638.14674,N,12152.50938,W,1,11,0.8,-2.74,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181129.00,3638.14686,N,12152.50975,W,1,11,0.8,-2.31,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181130.00,3638.14696,N,12152.50979,W,1,11,0.8,-1.73,M,-33.23,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 449283757
: 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,181131.00,3638.14691,N,12152.50956,W,1,11,0.8,-1.13,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181132.00,3638.14680,N,12152.50922,W,1,11,0.8,-0.91,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181133.00,3638.14674,N,12152.50887,W,1,11,0.8,-1.27,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181134.00,3638.14667,N,12152.50884,W,1,11,0.8,-1.94,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,181135.00,3638.14672,N,12152.50893,W,1,11,0.8,-2.26,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181136.00,3638.14677,N,12152.50909,W,1,11,0.8,-2.59,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181137.00,3638.14690,N,12152.50920,W,1,11,0.8,-2.43,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181138.00,3638.14699,N,12152.50923,W,1,11,0.8,-2.06,M,-33.23,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 948701507
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181139.00,3638.14702,N,12152.50930,W,1,11,0.8,-2.02,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181140.00,3638.14710,N,12152.50943,W,1,11,0.8,-1.68,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181141.00,3638.14707,N,12152.50928,W,1,11,0.8,-1.30,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,181142.00,3638.14692,N,12152.50896,W,1,11,0.8,-1.18,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181143.00,3638.14684,N,12152.50875,W,1,11,0.8,-1.17,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181144.00,3638.14677,N,12152.50861,W,1,11,0.8,-1.22,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181145.00,3638.14670,N,12152.50854,W,1,11,0.8,-1.46,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,181146.00,3638.14668,N,12152.50861,W,1,11,0.8,-1.91,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181147.00,3638.14674,N,12152.50872,W,1,11,0.8,-2.23,M,-33.23,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 448119257
: 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,181148.00,3638.14687,N,12152.50889,W,1,11,0.8,-2.31,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,181149.00,3638.14706,N,12152.50901,W,1,11,0.8,-2.13,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181150.00,3638.14717,N,12152.50917,W,1,11,0.8,-1.90,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

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

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

: AshtechGps::processRecord() - $GPGGA,181151.00,3638.14729,N,12152.50912,W,1,11,0.8,-1.78,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181152.00,3638.14731,N,12152.50912,W,1,11,0.8,-1.74,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,181153.00,3638.14724,N,12152.50913,W,1,11,0.8,-1.38,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181154.00,3638.14711,N,12152.50905,W,1,11,0.8,-1.38,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181155.00,3638.14699,N,12152.50900,W,1,11,0.8,-1.35,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,181156.00,3638.14697,N,12152.50886,W,1,11,0.8,-1.51,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181157.00,3638.14692,N,12152.50877,W,1,11,0.8,-1.62,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181158.00,3638.14699,N,12152.50869,W,1,11,0.8,-1.73,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181159.00,3638.14701,N,12152.50876,W,1,11,0.8,-1.99,M,-33.23,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 457296572
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181200.00,3638.14707,N,12152.50884,W,1,11,0.8,-2.01,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181201.00,3638.14718,N,12152.50879,W,1,11,0.8,-2.12,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181202.00,3638.14718,N,12152.50890,W,1,11,0.8,-2.19,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,181203.00,3638.14735,N,12152.50897,W,1,11,0.8,-2.35,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181204.00,3638.14737,N,12152.50914,W,1,11,0.8,-2.24,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181205.00,3638.14742,N,12152.50909,W,1,11,0.8,-1.69,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181206.00,3638.14732,N,12152.50883,W,1,11,0.8,-1.49,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,181207.00,3638.14717,N,12152.50856,W,1,11,0.8,-1.78,M,-33.23,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 956714322
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181208.00,3638.14729,N,12152.50840,W,1,11,0.8,-2.06,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181209.00,3638.14733,N,12152.50855,W,1,11,0.8,-1.98,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181210.00,3638.14751,N,12152.50859,W,1,11,0.8,-2.01,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181211.00,3638.14757,N,12152.50864,W,1,11,0.8,-1.80,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181212.00,3638.14754,N,12152.50858,W,1,11,0.8,-1.47,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181213.00,3638.14737,N,12152.50837,W,1,11,0.8,-1.49,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,181214.00,3638.14722,N,12152.50819,W,1,11,0.8,-1.81,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181215.00,3638.14732,N,12152.50811,W,1,11,0.8,-2.31,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181216.00,3638.14747,N,12152.50826,W,1,11,0.8,-2.46,M,-33.23,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 456132072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181217.00,3638.14772,N,12152.50842,W,1,11,0.8,-2.41,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181218.00,3638.14777,N,12152.50866,W,1,11,0.8,-1.94,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181219.00,3638.14789,N,12152.50871,W,1,11,0.8,-1.24,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181220.00,3638.14768,N,12152.50851,W,1,11,0.8,-0.98,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181221.00,3638.14757,N,12152.50809,W,1,11,0.8,-1.18,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181222.00,3638.14748,N,12152.50786,W,1,11,0.8,-1.50,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181223.00,3638.14746,N,12152.50779,W,1,11,0.8,-1.90,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,181224.00,3638.14758,N,12152.50783,W,1,11,0.8,-2.13,M,-33.23,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 955549822
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181225.00,3638.14767,N,12152.50800,W,1,11,0.8,-2.14,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181226.00,3638.14780,N,12152.50812,W,1,11,0.8,-2.07,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181227.00,3638.14787,N,12152.50821,W,1,11,0.8,-1.90,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181228.00,3638.14792,N,12152.50820,W,1,11,0.8,-1.64,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181229.00,3638.14789,N,12152.50807,W,1,11,0.8,-1.51,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181230.00,3638.14781,N,12152.50799,W,1,11,0.8,-1.34,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,181231.00,3638.14784,N,12152.50783,W,1,11,0.8,-1.32,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181232.00,3638.14769,N,12152.50776,W,1,11,0.8,-1.48,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181233.00,3638.14781,N,12152.50755,W,1,11,0.8,-1.77,M,-33.23,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 454967572
: 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,181234.00,3638.14780,N,12152.50762,W,1,11,0.8,-1.95,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181235.00,3638.14797,N,12152.50775,W,1,11,0.8,-1.90,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181236.00,3638.14808,N,12152.50783,W,1,11,0.8,-1.99,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181237.00,3638.14809,N,12152.50784,W,1,11,0.8,-1.90,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181238.00,3638.14817,N,12152.50784,W,1,11,0.8,-1.55,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181239.00,3638.14804,N,12152.50785,W,1,11,0.8,-1.45,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181240.00,3638.14799,N,12152.50759,W,1,11,0.8,-1.30,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181241.00,3638.14780,N,12152.50731,W,1,11,0.8,-1.51,M,-33.23,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 954385322
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181242.00,3638.14774,N,12152.50711,W,1,11,0.8,-2.14,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181243.00,3638.14785,N,12152.50717,W,1,11,0.8,-2.28,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181244.00,3638.14799,N,12152.50731,W,1,11,0.8,-2.13,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,181245.00,3638.14807,N,12152.50737,W,1,11,0.8,-2.00,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181246.00,3638.14806,N,12152.50741,W,1,11,0.8,-1.80,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181247.00,3638.14809,N,12152.50738,W,1,11,0.8,-1.54,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181248.00,3638.14802,N,12152.50738,W,1,11,0.8,-1.14,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181249.00,3638.14799,N,12152.50722,W,1,11,0.8,-0.94,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181250.00,3638.14791,N,12152.50710,W,1,11,0.8,-1.15,M,-33.23,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 453803072
: 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,181251.00,3638.14790,N,12152.50700,W,1,11,0.8,-1.64,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181252.00,3638.14796,N,12152.50686,W,1,11,0.8,-2.03,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181253.00,3638.14794,N,12152.50682,W,1,11,0.8,-2.20,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181254.00,3638.14808,N,12152.50680,W,1,11,0.8,-2.36,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181255.00,3638.14819,N,12152.50703,W,1,11,0.8,-2.13,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,181256.00,3638.14836,N,12152.50718,W,1,11,0.8,-1.99,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181257.00,3638.14835,N,12152.50720,W,1,11,0.8,-1.78,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181258.00,3638.14840,N,12152.50707,W,1,11,0.8,-1.63,M,-33.23,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 953220822
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181259.00,3638.14836,N,12152.50695,W,1,11,0.8,-1.35,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181300.00,3638.14831,N,12152.50677,W,1,11,0.8,-1.25,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181301.00,3638.14829,N,12152.50662,W,1,11,0.8,-1.03,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181302.00,3638.14825,N,12152.50636,W,1,11,0.8,-1.03,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181303.00,3638.14819,N,12152.50615,W,1,11,0.8,-1.68,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181304.00,3638.14830,N,12152.50614,W,1,11,0.8,-2.23,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181305.00,3638.14844,N,12152.50630,W,1,11,0.8,-2.57,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,181306.00,3638.14865,N,12152.50659,W,1,11,0.8,-2.57,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181307.00,3638.14874,N,12152.50682,W,1,11,0.8,-1.84,M,-33.23,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 452638572
: 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,181308.00,3638.14872,N,12152.50659,W,1,11,0.8,-1.51,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181309.00,3638.14854,N,12152.50637,W,1,11,0.8,-1.67,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,181310.00,3638.14853,N,12152.50618,W,1,11,0.8,-1.74,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181311.00,3638.14850,N,12152.50617,W,1,11,0.8,-1.67,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181312.00,3638.14861,N,12152.50605,W,1,11,0.8,-1.50,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,181313.00,3638.14859,N,12152.50608,W,1,11,0.8,-1.76,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181314.00,3638.14868,N,12152.50610,W,1,11,0.8,-1.70,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181315.00,3638.14860,N,12152.50612,W,1,11,0.8,-1.46,M,-33.23,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 952056322
: 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,181316.00,3638.14859,N,12152.50576,W,1,11,0.8,-1.32,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181317.00,3638.14848,N,12152.50551,W,1,11,0.8,-1.57,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181318.00,3638.14852,N,12152.50542,W,1,11,0.8,-2.01,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181319.00,3638.14862,N,12152.50564,W,1,11,0.8,-2.39,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,181320.00,3638.14877,N,12152.50584,W,1,11,0.8,-2.34,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181321.00,3638.14888,N,12152.50599,W,1,11,0.8,-2.20,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181322.00,3638.14885,N,12152.50610,W,1,11,0.8,-1.75,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181323.00,3638.14891,N,12152.50593,W,1,11,0.8,-1.50,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,181324.00,3638.14887,N,12152.50590,W,1,11,0.8,-1.45,M,-33.23,M,,*7A

: 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 451474072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181325.00,3638.14893,N,12152.50576,W,1,11,0.8,-1.36,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181326.00,3638.14880,N,12152.50562,W,1,11,0.8,-1.30,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,181327.00,3638.14878,N,12152.50538,W,1,11,0.8,-1.14,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.500000, D:0.000000, U:0.000000, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,181328.00,3638.14873,N,12152.50528,W,1,11,0.8,-1.27,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181329.00,3638.14874,N,12152.50518,W,1,11,0.8,-1.40,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181330.00,3638.14878,N,12152.50512,W,1,11,0.8,-1.84,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181331.00,3638.14879,N,12152.50509,W,1,11,0.8,-2.17,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181332.00,3638.14885,N,12152.50510,W,1,11,0.8,-2.62,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181333.00,3638.14901,N,12152.50535,W,1,11,0.8,-2.80,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,181334.00,3638.14926,N,12152.50562,W,1,11,0.8,-2.43,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181335.00,3638.14941,N,12152.50575,W,1,11,0.8,-1.85,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181336.00,3638.14930,N,12152.50579,W,1,11,0.8,-1.49,M,-33.23,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 450652072
: 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,181337.00,3638.14930,N,12152.50555,W,1,11,0.8,-1.14,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,181338.00,3638.14916,N,12152.50540,W,1,11,0.8,-0.72,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181339.00,3638.14908,N,12152.50492,W,1,11,0.8,-0.58,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.900000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,181340.00,3638.14885,N,12152.50453,W,1,11,0.8,-1.06,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,181341.00,3638.14877,N,12152.50438,W,1,11,0.8,-1.73,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181342.00,3638.14878,N,12152.50449,W,1,11,0.8,-1.94,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181343.00,3638.14888,N,12152.50453,W,1,11,0.8,-2.18,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181344.00,3638.14901,N,12152.50469,W,1,11,0.8,-2.29,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,181345.00,3638.14918,N,12152.50487,W,1,11,0.8,-2.36,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181346.00,3638.14931,N,12152.50502,W,1,11,0.8,-2.22,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181347.00,3638.14941,N,12152.50507,W,1,11,0.8,-2.14,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,181348.00,3638.14951,N,12152.50515,W,1,11,0.8,-1.77,M,-33.23,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 449830072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181349.00,3638.14950,N,12152.50520,W,1,11,0.8,-1.28,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181350.00,3638.14949,N,12152.50497,W,1,11,0.8,-1.05,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181351.00,3638.14936,N,12152.50466,W,1,11,0.8,-0.99,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,181352.00,3638.14924,N,12152.50441,W,1,11,0.8,-1.19,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181353.00,3638.14923,N,12152.50431,W,1,11,0.8,-1.54,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181354.00,3638.14928,N,12152.50430,W,1,11,0.8,-1.90,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,181355.00,3638.14940,N,12152.50430,W,1,11,0.8,-1.93,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181356.00,3638.14945,N,12152.50420,W,1,11,0.8,-1.92,M,-33.23,M,,*70

: 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 949247822
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,181357.00,3638.14943,N,12152.50410,W,1,11,0.8,-1.76,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,181358.00,3638.14944,N,12152.50409,W,1,11,0.8,-1.76,M,-33.23,M,,*7E

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: AshtechGps::processRecord() - $GPGGA,181359.00,3638.14942,N,12152.50427,W,1,11,0.8,-2.02,M,-33.23,M,,*75

: 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

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: Supervisor::shutdown() - done()

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

:  CameraDestructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000422A0.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:000213A0.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: **** SharedData destructor for object CameraOutput ****

: **** 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.
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: **** 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.
