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() - navigation: WorkSite::WorkSite -- Finished loading parameters
Ser: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
ver
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
Su: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
perv: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
iso: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
r::: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
cre: WorkSite server: 0x2300c
ateTask() - 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
: SerialDevice: done...

Supervisor::createTask() - dvlServer
Supe: SerialDevice: done...

rvisor::cr: SerialDevice: done...

eateTask() - fanServer
Supervis: Gps: initializing

or::: SerialDevice: done...

cre: SerialDevice: done...

ateTask() - dropWeightS: SerialDevice: done...

er: SerialDevice: done...

ver
: Crossbow.cc: In getSerialNumber()
Sup: SerialDevice: done...

ervisor::cre: SerialDevice: done...

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

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

ateTask() - echoSounderServer
: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

: ahrs if is Ahrs

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

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

: EchoSounder -- configuration:
	Maximum Range  = 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 
7D01

:  Dvl record header not found.  Resynchronize.

: SerialDevice: done...

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 638.17642,N,12152.46325,W,1,10,0.9,-2.06,M,-33.23,M,,*77

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,183217.00,3638.17638,N,12152.46293,W,1,10,0.9,-1.40,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,183218.00,3638.17618,N,12152.46239,W,1,10,0.9,-1.43,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,183219.00,3638.17608,N,12152.46207,W,1,10,0.9,-1.96,M,-33.23,M,,*7D

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,183220.00,3638.17609,N,12152.46212,W,1,10,0.9,-2.33,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,183221.00,3638.17618,N,12152.46209,W,1,10,0.9,-2.48,M,-33.23,M,,*79

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138880
: AshtechGps::processRecord() - $GPGGA,183222.00,3638.17610,N,12152.46191,W,1,10,0.9,-2.55,M,-33.23,M,,*7C

: Parosci.cc -- Parosci initial temp period = 5.842458
: Parosci.cc -- Paroscientific configured.
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 323524497
: SonardyneDriver::acquireRangeData() - no valid response
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,183223.00,3638.17607,N,12152.46175,W,1,10,0.9,-2.68,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,183224.00,3638.17615,N,12152.46149,W,1,10,0.9,-3.15,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,183225.00,3638.17630,N,12152.46165,W,1,10,0.9,-3.23,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,183226.00,3638.17659,N,12152.46181,W,1,10,0.9,-3.29,M,-33.23,M,,*7E

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,183227.00,3638.17666,N,12152.46230,W,1,10,0.9,-3.36,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,183228.00,3638.17688,N,12152.46242,W,1,10,0.9,-2.94,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,183229.00,3638.17683,N,12152.46246,W,1,10,0.9,-2.27,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,183230.00,3638.17677,N,12152.46211,W,1,10,0.9,-2.05,M,-33.23,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 822942247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183231.00,3638.17665,N,12152.46181,W,1,10,0.9,-1.74,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,183232.00,3638.17654,N,12152.46151,W,1,10,0.9,-1.74,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,183233.00,3638.17648,N,12152.46116,W,1,10,0.9,-2.21,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,183234.00,3638.17636,N,12152.46104,W,1,10,0.9,-2.51,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,183235.00,3638.17646,N,12152.46090,W,1,10,0.9,-2.76,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,183236.00,3638.17652,N,12152.46102,W,1,10,0.9,-3.28,M,-33.23,M,,*7E

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

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

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

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,183237.00,3638.17667,N,12152.46125,W,1,10,0.9,-3.48,M,-33.23,M,,*7A

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,183238.00,3638.17682,N,12152.46143,W,1,10,0.9,-3.36,M,-33.23,M,,*77

: 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,183239.00,3638.17692,N,12152.46149,W,1,10,0.9,-3.27,M,-33.23,M,,*7D

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322359997
: 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,183240.00,3638.17700,N,12152.46157,W,1,10,0.9,-2.70,M,-33.23,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,183241.00,3638.17694,N,12152.46136,W,1,10,0.9,-2.15,M,-33.23,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: AshtechGps::processRecord() - $GPGGA,183242.00,3638.17680,N,12152.46104,W,1,10,0.9,-2.08,M,-33.23,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,183243.00,3638.17674,N,12152.46089,W,1,10,0.9,-2.29,M,-33.23,M,,*7A

: 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,183244.00,3638.17668,N,12152.46089,W,1,10,0.9,-2.50,M,-33.23,M,,*7E

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: AshtechGps::processRecord() - $GPGGA,183245.00,3638.17674,N,12152.46082,W,1,10,0.9,-2.99,M,-33.23,M,,*7C

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

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

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

: AshtechGps::processRecord() - $GPGGA,183246.00,3638.17680,N,12152.46092,W,1,10,0.9,-3.02,M,-33.23,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,183247.00,3638.17693,N,12152.46102,W,1,10,0.9,-2.73,M,-33.23,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 821777747
: 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,183248.00,3638.17687,N,12152.46089,W,1,10,0.9,-2.35,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,183249.00,3638.17692,N,12152.46057,W,1,10,0.9,-2.41,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,183250.00,3638.17666,N,12152.46038,W,1,10,0.9,-2.57,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,183251.00,3638.17661,N,12152.46010,W,1,10,0.9,-3.03,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,183252.00,3638.17663,N,12152.46000,W,1,10,0.9,-3.14,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,183253.00,3638.17675,N,12152.45989,W,1,10,0.9,-3.21,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,183254.00,3638.17668,N,12152.45980,W,1,10,0.9,-3.11,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,183255.00,3638.17663,N,12152.45952,W,1,10,0.9,-2.85,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,183256.00,3638.17642,N,12152.45920,W,1,10,0.9,-2.49,M,-33.23,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 321195497
: 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,183257.00,3638.17615,N,12152.45878,W,1,10,0.9,-2.26,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,183258.00,3638.17578,N,12152.45824,W,1,10,0.9,-2.00,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,183259.00,3638.17530,N,12152.45761,W,1,10,0.9,-2.00,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,183300.00,3638.17476,N,12152.45690,W,1,10,0.9,-2.17,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,183301.00,3638.17421,N,12152.45648,W,1,10,0.9,-2.59,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,183302.00,3638.17373,N,12152.45638,W,1,10,0.9,-3.22,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,183303.00,3638.17331,N,12152.45640,W,1,10,0.9,-3.42,M,-33.23,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,183304.00,3638.17294,N,12152.45660,W,1,10,0.9,-3.40,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 820613247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183305.00,3638.17249,N,12152.45670,W,1,10,0.9,-3.12,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,183306.00,3638.17186,N,12152.45666,W,1,10,0.9,-2.48,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,183307.00,3638.17110,N,12152.45644,W,1,10,0.9,-2.10,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,183308.00,3638.17039,N,12152.45626,W,1,10,0.9,-2.36,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,183309.00,3638.16974,N,12152.45616,W,1,10,0.9,-2.51,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,183310.00,3638.16908,N,12152.45616,W,1,10,0.9,-2.46,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,183311.00,3638.16840,N,12152.45623,W,1,10,0.9,-2.40,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,183312.00,3638.16768,N,12152.45607,W,1,10,0.9,-2.45,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,183313.00,3638.16700,N,12152.45599,W,1,10,0.9,-2.70,M,-33.23,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,183314.00,3638.16637,N,12152.45592,W,1,10,0.9,-2.97,M,-33.23,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,183315.00,3638.16576,N,12152.45587,W,1,10,0.9,-3.05,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,183316.00,3638.16515,N,12152.45592,W,1,10,0.9,-2.92,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,183317.00,3638.16445,N,12152.45577,W,1,10,0.9,-2.69,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,183318.00,3638.16368,N,12152.45573,W,1,10,0.9,-2.79,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,183319.00,3638.16300,N,12152.45562,W,1,10,0.9,-2.91,M,-33.23,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 319619997
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183320.00,3638.16243,N,12152.45569,W,1,10,0.9,-3.15,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,183321.00,3638.16196,N,12152.45573,W,1,10,0.9,-3.18,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,183322.00,3638.16141,N,12152.45581,W,1,10,0.9,-2.95,M,-33.23,M,,*75

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.000000, D:0.000000, U:0.000000, Q:-nan

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

: AshtechGps::processRecord() - $GPGGA,183323.00,3638.16078,N,12152.45544,W,1,10,0.9,-2.37,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,183324.00,3638.15995,N,12152.45512,W,1,10,0.9,-1.96,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,183325.00,3638.15907,N,12152.45461,W,1,10,0.9,-1.75,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,183326.00,3638.15818,N,12152.45431,W,1,10,0.9,-1.93,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,183327.00,3638.15737,N,12152.45408,W,1,10,0.9,-2.33,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,183328.00,3638.15669,N,12152.45389,W,1,10,0.9,-3.12,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,183329.00,3638.15623,N,12152.45401,W,1,10,0.9,-3.76,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,183330.00,3638.15588,N,12152.45421,W,1,10,0.9,-3.72,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,183331.00,3638.15540,N,12152.45442,W,1,10,0.9,-3.30,M,-33.23,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 318797997
: 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,183332.00,3638.15477,N,12152.45443,W,1,10,0.9,-2.81,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,183333.00,3638.15404,N,12152.45432,W,1,10,0.9,-2.27,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,183334.00,3638.15325,N,12152.45402,W,1,10,0.9,-1.81,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,183335.00,3638.15243,N,12152.45356,W,1,10,0.9,-1.65,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,183336.00,3638.15160,N,12152.45332,W,1,10,0.9,-2.07,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,183337.00,3638.15087,N,12152.45302,W,1,10,0.9,-2.64,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,183338.00,3638.15026,N,12152.45327,W,1,10,0.9,-2.83,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,183339.00,3638.14971,N,12152.45334,W,1,10,0.9,-2.74,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 818215747
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183340.00,3638.14910,N,12152.45340,W,1,10,0.9,-2.55,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,183341.00,3638.14844,N,12152.45315,W,1,10,0.9,-2.58,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,183342.00,3638.14777,N,12152.45306,W,1,10,0.9,-2.87,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,183343.00,3638.14714,N,12152.45301,W,1,10,0.9,-3.07,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,183344.00,3638.14896,N,12152.45221,W,1,10,0.9,-7.36,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,183345.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 68.395315) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 68.395315) Behavior descend:-1 has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,183346.00,,,,,0,00,,,M,,M,,*43

: 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,183347.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183348.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 317633497
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183349.00,,,,,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,183350.00,,,,,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,183351.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183352.00,,,,,0,00,,,M,,M,,*46

: 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,183353.00,,,,,0,00,,,M,,M,,*47

: 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,183354.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183355.00,,,,,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,183356.00,,,,,0,00,,,M,,M,,*42

: 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 817051247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183357.00,,,,,0,00,,,M,,M,,*43

: 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,183358.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183359.00,,,,,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,183400.00,,,,,0,00,,,M,,M,,*46

: 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,183401.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183402.00,,,,,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,183403.00,,,,,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,183404.00,,,,,0,00,,,M,,M,,*42

: 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,183405.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 316468997
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183406.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,183407.00,,,,,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,183408.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183409.00,,,,,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,183410.00,,,,,0,00,,,M,,M,,*47

: 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,183411.00,,,,,0,00,,,M,,M,,*46

: 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,183412.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183413.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 815886747
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183414.00,,,,,0,00,,,M,,M,,*43

: 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,183415.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183416.00,,,,,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,183417.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,183418.00,,,,,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,183419.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183420.00,,,,,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,183421.00,,,,,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,183422.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 315304497
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183423.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 9.015429 > 9.000000 at time 106.192725

: LayeredControl::execute() -- (t = 106.192725) Behavior descend:-1 has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 106.19                            (wplog)
  The current location (N,E) = 4055011.8      , 600649.4         (wplog)
  The next waypoint          = 4054086.8      , 600378.4         (wplog)
  The bearing to the next w.p. is 196.3 Degrees.

: LayeredControl::execute() -- (t = 106.192725) Behavior waypoint_homing:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183424.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183425.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183426.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183427.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183428.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183429.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183430.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 814722247
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183431.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183432.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183433.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 116.19          Seconds.
:   The vehicle position is (4054997.7, 600646.4)

: AshtechGps::processRecord() - $GPGGA,183434.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183435.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183436.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183437.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183438.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183439.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183440.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183441.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 314002997
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 124.40          Seconds.
:   The vehicle position is is (4054989.0, 600643.0)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183442.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183443.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183444.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183445.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183446.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183447.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183448.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183449.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 823420062
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183450.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183451.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.57
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 135.00          Seconds.
:   The vehicle position is (4054976.4, 600637.8)

: AshtechGps::processRecord() - $GPGGA,183452.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183453.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183454.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183455.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183456.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183457.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183458.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183459.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183500.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322700812
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 143.40          Seconds.
:   The vehicle position is is (4054966.0, 600632.7)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183501.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183502.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183503.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183504.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183505.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183506.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183507.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183508.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 872115137
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183509.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183510.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183511.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183512.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183513.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183514.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183515.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183516.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183517.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 321536312
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183518.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183519.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183520.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183521.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183522.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183523.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183524.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183525.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 820954062
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183526.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183527.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183528.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183529.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183530.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183531.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183532.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183533.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183534.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 320371812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183535.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183536.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183537.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183538.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183539.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183540.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183541.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183542.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 819789562
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183543.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183544.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183545.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183546.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183547.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183548.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183549.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183550.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183551.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 319207312
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183552.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183553.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 196.60          Seconds.
:   The vehicle position is (4054912.5, 600577.0)

: AshtechGps::processRecord() - $GPGGA,183554.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183555.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183556.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183557.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183558.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183559.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183600.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183601.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.89
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 818488062
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183602.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 205.20          Seconds.
:   The vehicle position is is (4054900.8, 600570.4)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183603.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 207.00          Seconds.
:   The vehicle position is (4054898.2, 600569.4)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183604.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183605.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183606.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183607.00,,,,,0,00,,,M,,M,,*43

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

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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 210.60          Seconds.
:   The vehicle position is is (4054893.8, 600566.2)

: AshtechGps::processRecord() - $GPGGA,183608.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183609.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183610.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183611.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183612.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183613.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183614.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183615.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 817529062
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183616.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.83
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183617.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 220.99          Seconds.
:   The vehicle position is (4054881.3, 600557.1)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183618.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183619.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183620.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183621.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183622.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183623.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183624.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183625.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183626.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 316809812
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.90
	speedMode=1 speed=1.50

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 229.59          Seconds.
:   The vehicle position is is (4054871.3, 600550.0)

: AshtechGps::processRecord() - $GPGGA,183627.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.90
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183628.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 231.39          Seconds.
:   The vehicle position is (4054868.9, 600549.1)

: AshtechGps::processRecord() - $GPGGA,183629.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183630.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183631.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183632.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183633.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183634.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183635.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230057390
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 238.59          Seconds.
:   The vehicle position is is (4054859.3, 600544.3)

: AshtechGps::processRecord() - $GPGGA,183636.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183637.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183638.00,,,,,0,00,,,M,,M,,*4F

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183639.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183640.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.84
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 243.99          Seconds.
:   The vehicle position is (4054852.6, 600540.2)

: AshtechGps::processRecord() - $GPGGA,183641.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183642.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183643.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.91
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183644.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.19
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183645.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.36
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183646.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183647.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183648.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183649.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183650.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183651.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183652.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183653.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: AshtechGps::processRecord() - $GPGGA,183654.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183655.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183656.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183657.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183658.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 744588357
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 261.99          Seconds.
:   The vehicle position is is (4054844.2, 600518.1)

: AshtechGps::processRecord() - $GPGGA,183659.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183700.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183701.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183702.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183703.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183704.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183705.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183706.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183707.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 314001312
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183708.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183709.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183710.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183711.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183712.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183713.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183714.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183715.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 823418377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183716.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183717.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183718.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183719.00,,,,,0,00,,,M,,M,,*4D

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183720.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183721.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 284.20          Seconds.
:   The vehicle position is (4054847.1, 600491.8)

: AshtechGps::processRecord() - $GPGGA,183722.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183723.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183724.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183725.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183726.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183727.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183728.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183729.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183730.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 822390877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183731.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 294.20          Seconds.
:   The vehicle position is is (4054843.9, 600479.7)

: AshtechGps::processRecord() - $GPGGA,183732.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183733.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183734.00,,,,,0,00,,,M,,M,,*42

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183735.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183736.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183737.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183738.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183739.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183740.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183741.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183742.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 821568877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183743.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183744.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183745.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183746.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183747.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183748.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183749.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183750.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183751.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 320986627
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183752.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183753.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183754.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183755.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183756.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183757.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183758.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183759.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 820404377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183800.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183801.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183802.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183803.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183804.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183805.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183806.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183807.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183808.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 319822127
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183809.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183810.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183811.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183812.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183813.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183814.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183815.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183816.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 819239877
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183817.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183818.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183819.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183820.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183821.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183822.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183823.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183824.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183825.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 318657627
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183826.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183827.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183828.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183829.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183830.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183831.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183832.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183833.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 818075377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183834.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183835.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183836.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183837.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.100000, D:0.000000, U:0.000000, Q:***************************************

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

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183838.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183839.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183840.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183841.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183842.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183843.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183844.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183845.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 817253377
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183846.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183847.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183848.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183849.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183850.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183851.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183852.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183853.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183854.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 316671127
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183855.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183856.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183857.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183858.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183859.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183900.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183901.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183902.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 816088877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183903.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183904.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183905.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183906.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183907.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183908.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183909.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183910.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183911.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 315506627
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183912.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183913.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183914.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183915.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183916.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183917.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183918.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183919.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 814924377
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183920.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183921.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183922.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183923.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183924.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183925.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183926.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183927.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183928.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 314342127
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183929.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183930.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183931.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183932.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183933.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183934.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183935.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183936.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 813759877
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183937.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183938.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183939.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183940.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183941.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183942.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183943.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183944.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183945.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 323176942
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183946.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183947.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183948.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183949.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183950.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183951.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183952.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183953.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 822594692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,183954.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183955.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183956.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183957.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,183958.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183959.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184000.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184001.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184002.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322012442
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184003.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184004.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184005.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184006.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184007.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184008.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184009.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184010.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 821430192
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184011.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184012.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184013.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184014.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184015.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184016.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184017.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184018.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184019.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 320847942
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184020.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184021.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184022.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184023.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184024.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184025.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184026.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184027.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 820265692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184028.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184029.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184030.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184031.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184032.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184033.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184034.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184035.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184036.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 319683442
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184037.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184038.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184039.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184040.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184041.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184042.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184043.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184044.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 819101192
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184045.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184046.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184047.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184048.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184049.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184050.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184051.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184052.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184053.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 318518942
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184054.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184055.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184056.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184057.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184058.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184059.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184100.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184101.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 817936692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184102.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184103.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184104.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184105.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184106.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184107.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184108.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184109.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184110.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 317354442
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184111.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184112.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184113.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184114.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184115.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184116.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184117.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184118.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 816772192
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184119.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184120.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184121.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184122.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184123.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184124.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184125.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184126.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184127.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 316189942
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184128.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184129.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184130.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184131.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184132.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184133.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184134.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184135.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 815607692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184136.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184137.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184138.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184139.00,,,,,0,00,,,M,,M,,*4E

: 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:***************************************

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184140.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184141.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184142.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184143.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184144.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184145.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184146.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184147.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 814785692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184148.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184149.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184150.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184151.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

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

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

: AshtechGps::processRecord() - $GPGGA,184152.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184153.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184154.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184155.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184156.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184157.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184158.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184159.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 813963692
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184200.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184201.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184202.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184203.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184204.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184205.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184206.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184207.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184208.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 323380757
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184209.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184210.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184211.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184212.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184213.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184214.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184215.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184216.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 822798507
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184217.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184218.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184219.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184220.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184221.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184222.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184223.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184224.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184225.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322216257
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184226.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184227.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184228.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184229.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184230.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184231.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184232.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184233.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 821634007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184234.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184235.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184236.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184237.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184238.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184239.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184240.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184241.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184242.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 321051757
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184243.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184244.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184245.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184246.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184247.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184248.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184249.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184250.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 820469507
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184251.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184252.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184253.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184254.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184255.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184256.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184257.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184258.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184259.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 319887257
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184300.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184301.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184302.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184303.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184304.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184305.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184306.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184307.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 819305007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184308.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184309.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184310.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184311.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184312.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184313.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184314.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184315.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184316.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 318722757
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184317.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184318.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184319.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184320.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184321.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184322.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184323.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184324.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 818140507
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184325.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184326.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184327.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184328.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184329.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184330.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184331.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184332.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184333.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 317558257
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184334.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184335.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184336.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184337.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184338.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184339.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184340.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184341.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 816976007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184342.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184343.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184344.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184345.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184346.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184347.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184348.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184349.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184350.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 316393757
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184351.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184352.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184353.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184354.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184355.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184356.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184357.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184358.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 815811507
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184359.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184400.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184401.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184402.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184403.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184404.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184405.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184406.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184407.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 315229257
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184408.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184409.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184410.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184411.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184412.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184413.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184414.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184415.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 814647007
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184416.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184417.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184418.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184419.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184420.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184421.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184422.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=4.65
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184423.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 706.391609) Behavior waypoint_homing:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 706.391609) 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,184424.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 314064757
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184425.00,,,,,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,184426.00,,,,,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,184427.00,,,,,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,184428.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184429.00,,,,,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,184430.00,,,,,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,184431.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184432.00,,,,,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 823481822
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184433.00,,,,,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,184434.00,,,,,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,184435.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184436.00,,,,,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,184437.00,,,,,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,184438.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184439.00,,,,,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,184440.00,,,,,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,184441.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322899572
: 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,184442.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184443.00,,,,,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,184444.00,,,,,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,184445.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184446.00,,,,,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,184447.00,,,,,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,184448.00,,,,,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,184449.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 822317322
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184450.00,,,,,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,184451.00,,,,,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,184452.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184453.00,,,,,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,184454.00,,,,,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,184455.00,,,,,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,184456.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184457.00,,,,,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,184458.00,,,,,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,184459.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184500.00,,,,,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 321598072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184501.00,,,,,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,184502.00,,,,,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,184503.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184504.00,,,,,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,184505.00,,,,,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,184506.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184507.00,,,,,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,184508.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 821015822
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184509.00,,,,,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,184510.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184511.00,,,,,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,184512.00,,,,,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,184513.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184514.00,,,,,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,184515.00,,,,,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,184516.00,,,,,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,184517.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 320433572
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184518.00,,,,,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,184519.00,,,,,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,184520.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184521.00,,,,,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,184522.00,,,,,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,184523.00,,,,,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,184524.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184525.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 819851322
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184526.00,,,,,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,184527.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184528.00,,,,,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,184529.00,,,,,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,184530.00,,,,,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,184531.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184532.00,,,,,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,184533.00,,,,,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,184534.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 319269072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184535.00,,,,,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,184536.00,,,,,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,184537.00,,,,,0,00,,,M,,M,,*44

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

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

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,184538.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184539.00,,,,,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,184540.00,,,,,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,184541.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184542.00,,,,,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,184543.00,,,,,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,184544.00,,,,,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,184545.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184546.00,,,,,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,184547.00,,,,,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,184548.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 318310072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184549.00,,,,,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,184550.00,,,,,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,184551.00,,,,,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,184552.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184553.00,,,,,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,184554.00,,,,,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,184555.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 798.395306) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 798.395306) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,184556.00,,,,,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,184557.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184558.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 867587397
: 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,184559.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184600.00,,,,,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,184601.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184602.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184603.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184604.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184605.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184606.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184607.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 317008572
: 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,184608.00,,,,,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,184609.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184610.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184611.00,,,,,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,184612.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184613.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184614.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184615.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 816426322
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184616.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,184617.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184618.00,3637.99927,N,12152.99657,W,1,09,1.0,-1.31,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,184619.00,3637.99947,N,12152.99707,W,1,09,1.0,-2.16,M,-33.23,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,184620.00,3637.99928,N,12152.99717,W,1,09,1.0,-1.58,M,-33.23,M,,*74

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,184621.00,3637.99951,N,12152.99754,W,1,09,1.0,-2.07,M,-33.23,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,184622.00,3637.99947,N,12152.99807,W,1,09,1.0,-2.44,M,-33.23,M,,*7F

: 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,184623.00,3637.99932,N,12152.99814,W,1,09,1.0,-2.49,M,-33.23,M,,*73

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: AshtechGps::processRecord() - $GPGGA,184624.00,3637.99915,N,12152.99822,W,1,09,1.0,-2.28,M,-33.23,M,,*73

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 315844072
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184625.00,3637.99900,N,12152.99829,W,1,09,1.0,-2.15,M,-33.23,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,184626.00,3637.99885,N,12152.99849,W,1,09,1.0,-2.69,M,-33.23,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,184627.00,3637.99879,N,12152.99881,W,1,09,1.0,-2.95,M,-33.23,M,,*74

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 830.193128) 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 = 830.393114) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 830.393114) Behavior missionTimer:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,184628.00,3637.99869,N,12152.99901,W,1,09,1.0,-2.68,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,184629.00,3637.99859,N,12152.99921,W,1,09,1.0,-2.52,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,184630.00,3637.99847,N,12152.99931,W,1,09,1.0,-2.54,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,184631.00,3637.99844,N,12152.99948,W,1,09,1.0,-2.34,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,184632.00,3637.99837,N,12152.99962,W,1,09,1.0,-2.50,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 815261822
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184633.00,3637.99824,N,12152.99968,W,1,09,1.0,-2.34,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,184634.00,3637.99819,N,12152.99986,W,1,09,1.0,-2.29,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,184635.00,3637.99799,N,12152.99991,W,1,09,1.0,-2.45,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,184636.00,3637.99794,N,12153.00009,W,1,09,1.0,-2.46,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,184637.00,3637.99793,N,12153.00036,W,1,09,1.0,-2.64,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,184638.00,3637.99790,N,12153.00055,W,1,09,1.0,-2.73,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,184639.00,3637.99788,N,12153.00073,W,1,09,1.0,-2.73,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,184640.00,3637.99782,N,12153.00093,W,1,09,1.0,-2.72,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,184641.00,3637.99782,N,12153.00121,W,1,09,1.0,-2.46,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 314679572
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184642.00,3637.99779,N,12153.00134,W,1,09,1.0,-2.29,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,184643.00,3637.99767,N,12153.00136,W,1,09,1.0,-2.18,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,184644.00,3637.99749,N,12153.00132,W,1,09,1.0,-1.92,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,184645.00,3637.99733,N,12153.00127,W,1,09,1.0,-1.85,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,184646.00,3637.99713,N,12153.00113,W,1,09,1.0,-2.11,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,184647.00,3637.99714,N,12153.00135,W,1,09,1.0,-2.82,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,184648.00,3637.99708,N,12153.00152,W,1,09,1.0,-3.19,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,184649.00,3637.99718,N,12153.00194,W,1,09,1.0,-3.47,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 814097322
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184650.00,3637.99722,N,12153.00212,W,1,09,1.0,-3.40,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,184651.00,3637.99731,N,12153.00243,W,1,09,1.0,-2.81,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,184652.00,3637.99727,N,12153.00248,W,1,09,1.0,-2.30,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,184653.00,3637.99709,N,12153.00231,W,1,09,1.0,-2.11,M,-33.23,M,,*73

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.400000, D:0.000000, U:0.000000, Q:***************************************

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

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184654.00,3637.99700,N,12153.00239,W,1,09,1.0,-2.20,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,184655.00,3637.99684,N,12153.00226,W,1,09,1.0,-2.48,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,184656.00,3637.99689,N,12153.00248,W,1,09,1.0,-2.43,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,184657.00,3637.99682,N,12153.00251,W,1,09,1.0,-2.23,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,184658.00,3637.99677,N,12153.00263,W,1,09,1.0,-1.94,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,184659.00,3637.99664,N,12153.00253,W,1,09,1.0,-1.97,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,184700.00,3637.99653,N,12153.00256,W,1,09,1.0,-2.19,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,184701.00,3637.99643,N,12153.00254,W,1,09,1.0,-2.14,M,-33.23,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 823274637
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184702.00,3637.99626,N,12153.00248,W,1,09,1.0,-2.45,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,184703.00,3637.99623,N,12153.00265,W,1,09,1.0,-3.05,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,184704.00,3637.99633,N,12153.00296,W,1,09,1.0,-3.34,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,184705.00,3637.99608,N,12153.00369,W,1,09,1.0,-3.77,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,184706.00,3637.99623,N,12153.00405,W,1,09,1.0,-3.38,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,184707.00,3637.99624,N,12153.00425,W,1,09,1.0,-2.65,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,184708.00,3637.99606,N,12153.00409,W,1,09,1.0,-2.02,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,184709.00,3637.99577,N,12153.00371,W,1,09,1.0,-1.59,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,184710.00,3637.99544,N,12153.00341,W,1,09,1.0,-1.78,M,-33.23,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322692387
: 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,184711.00,3637.99524,N,12153.00326,W,1,09,1.0,-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,184712.00,3637.99523,N,12153.00332,W,1,09,1.0,-2.87,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,184713.00,3637.99524,N,12153.00337,W,1,09,1.0,-3.30,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,184714.00,3637.99533,N,12153.00366,W,1,09,1.0,-3.42,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,184715.00,3637.99536,N,12153.00389,W,1,09,1.0,-3.27,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,184716.00,3637.99533,N,12153.00399,W,1,09,1.0,-3.14,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,184717.00,3637.99531,N,12153.00413,W,1,09,1.0,-3.13,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,184718.00,3637.99526,N,12153.00411,W,1,09,1.0,-2.95,M,-33.23,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 822110137
: 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,184719.00,3637.99522,N,12153.00425,W,1,09,1.0,-2.87,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,184720.00,3637.99522,N,12153.00429,W,1,09,1.0,-2.98,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,184721.00,3637.99522,N,12153.00443,W,1,09,1.0,-2.87,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,184722.00,3637.99518,N,12153.00449,W,1,09,1.0,-2.67,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,184723.00,3637.99513,N,12153.00460,W,1,09,1.0,-2.51,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,184724.00,3637.99503,N,12153.00445,W,1,09,1.0,-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,184725.00,3637.99491,N,12153.00457,W,1,09,1.0,-2.39,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,184726.00,3637.99477,N,12153.00439,W,1,09,1.0,-2.28,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,184727.00,3637.99493,N,12153.00462,W,1,10,0.9,-2.77,M,-33.23,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 321527887
: 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,184728.00,3637.99485,N,12153.00460,W,1,10,0.9,-3.24,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,184729.00,3637.99489,N,12153.00468,W,1,10,0.9,-3.31,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,184730.00,3637.99493,N,12153.00481,W,1,10,0.9,-3.45,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,184731.00,3637.99499,N,12153.00496,W,1,10,0.9,-3.63,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,184732.00,3637.99508,N,12153.00521,W,1,10,0.9,-3.70,M,-33.23,M,,*76

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.700000, D:0.000000, U:0.000000, Q:***************************************

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,184733.00,3637.99515,N,12153.00535,W,1,10,0.9,-3.61,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,184734.00,3637.99520,N,12153.00550,W,1,10,0.9,-3.44,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,184735.00,3637.99522,N,12153.00549,W,1,10,0.9,-3.23,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,184736.00,3637.99516,N,12153.00558,W,1,10,0.9,-2.82,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,184737.00,3637.99506,N,12153.00529,W,1,10,0.9,-2.35,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,184738.00,3637.99490,N,12153.00512,W,1,10,0.9,-2.19,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,184739.00,3637.99480,N,12153.00472,W,1,10,0.9,-2.57,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,184740.00,3637.99470,N,12153.00470,W,1,10,0.9,-3.33,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,184741.00,3637.99477,N,12153.00477,W,1,10,0.9,-3.80,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,184742.00,3637.99486,N,12153.00505,W,1,10,0.9,-3.59,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,184743.00,3637.99488,N,12153.00506,W,1,10,0.9,-3.15,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,184744.00,3637.99481,N,12153.00474,W,1,10,0.9,-2.90,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,184745.00,3637.99466,N,12153.00474,W,1,10,0.9,-2.91,M,-33.23,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 320294887
: 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,184746.00,3637.99465,N,12153.00457,W,1,10,0.9,-3.36,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,184747.00,3637.99471,N,12153.00480,W,1,10,0.9,-3.76,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,184748.00,3637.99491,N,12153.00496,W,1,10,0.9,-3.72,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,184749.00,3637.99499,N,12153.00521,W,1,10,0.9,-3.37,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,184750.00,3637.99495,N,12153.00518,W,1,10,0.9,-2.93,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,184751.00,3637.99483,N,12153.00497,W,1,10,0.9,-2.75,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,184752.00,3637.99469,N,12153.00485,W,1,10,0.9,-2.68,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,184753.00,3637.99462,N,12153.00469,W,1,10,0.9,-2.79,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,184754.00,3637.99452,N,12153.00477,W,1,10,0.9,-2.83,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,184755.00,3637.99451,N,12153.00454,W,1,10,0.9,-2.68,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,184756.00,3637.99446,N,12153.00444,W,1,10,0.9,-2.85,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,184757.00,3637.99445,N,12153.00434,W,1,10,0.9,-3.02,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,184758.00,3637.99441,N,12153.00441,W,1,10,0.9,-3.34,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,184759.00,3637.99449,N,12153.00454,W,1,10,0.9,-3.67,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 819301637
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184800.00,3637.99460,N,12153.00460,W,1,10,0.9,-3.61,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,184801.00,3637.99460,N,12153.00472,W,1,10,0.9,-3.48,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,184802.00,3637.99465,N,12153.00472,W,1,10,0.9,-3.32,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,184803.00,3637.99460,N,12153.00488,W,1,10,0.9,-3.18,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,184804.00,3637.99461,N,12153.00464,W,1,10,0.9,-2.94,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,184805.00,3637.99448,N,12153.00450,W,1,10,0.9,-2.79,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,184806.00,3637.99447,N,12153.00435,W,1,10,0.9,-2.94,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,184807.00,3637.99445,N,12153.00437,W,1,10,0.9,-3.01,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,184808.00,3637.99452,N,12153.00450,W,1,10,0.9,-2.99,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,184809.00,3637.99456,N,12153.00445,W,1,10,0.9,-2.67,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,184810.00,3637.99448,N,12153.00429,W,1,10,0.9,-2.72,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 1230058085
: AshtechGps::processRecord() - $GPGGA,184811.00,3637.99444,N,12153.00427,W,1,10,0.9,-2.90,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,184812.00,3637.99449,N,12153.00435,W,1,10,0.9,-2.99,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,184813.00,3637.99452,N,12153.00442,W,1,10,0.9,-2.92,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,184814.00,3637.99456,N,12153.00443,W,1,10,0.9,-2.92,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,184815.00,3637.99455,N,12153.00438,W,1,10,0.9,-2.68,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,184816.00,3637.99449,N,12153.00432,W,1,10,0.9,-2.72,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,184817.00,3637.99446,N,12153.00438,W,1,10,0.9,-3.09,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,184818.00,3637.99456,N,12153.00444,W,1,10,0.9,-3.36,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,184819.00,3637.99460,N,12153.00460,W,1,10,0.9,-3.36,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 317965887
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184820.00,3637.99473,N,12153.00473,W,1,10,0.9,-3.36,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,184821.00,3637.99486,N,12153.00482,W,1,10,0.9,-3.15,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,184822.00,3637.99482,N,12153.00476,W,1,10,0.9,-2.57,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,184823.00,3637.99471,N,12153.00464,W,1,10,0.9,-2.21,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,184824.00,3637.99458,N,12153.00452,W,1,10,0.9,-2.14,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,184825.00,3637.99451,N,12153.00433,W,1,10,0.9,-2.34,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,184826.00,3637.99446,N,12153.00430,W,1,10,0.9,-2.83,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,184827.00,3637.99449,N,12153.00426,W,1,10,0.9,-2.89,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,184828.00,3637.99448,N,12153.00421,W,1,10,0.9,-3.13,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,184829.00,3637.99453,N,12153.00423,W,1,10,0.9,-3.50,M,-33.23,M,,*7D

: SonardyneDriver::acquireDiagData() - S:112.100000, N:26.600000, D:0.000000, U:0.011963, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:112.100000, N:26.600000, D:0.000000, U:0.011963, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,184830.00,3637.99464,N,12153.00442,W,1,10,0.9,-3.63,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,184831.00,3637.99478,N,12153.00466,W,1,10,0.9,-3.64,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,184832.00,3637.99487,N,12153.00478,W,1,10,0.9,-3.33,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,184833.00,3637.99489,N,12153.00478,W,1,10,0.9,-2.93,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,184834.00,3637.99479,N,12153.00472,W,1,10,0.9,-2.69,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,184835.00,3637.99476,N,12153.00453,W,1,10,0.9,-2.67,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,184836.00,3637.99468,N,12153.00441,W,1,10,0.9,-2.72,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,184837.00,3637.99469,N,12153.00430,W,1,10,0.9,-2.68,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,184838.00,3637.99461,N,12153.00426,W,1,10,0.9,-2.54,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,184839.00,3637.99460,N,12153.00406,W,1,10,0.9,-2.76,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,184840.00,3637.99451,N,12153.00398,W,1,10,0.9,-3.21,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,184841.00,3637.99458,N,12153.00400,W,1,10,0.9,-3.62,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,184842.00,3637.99466,N,12153.00414,W,1,10,0.9,-3.34,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,184843.00,3637.99471,N,12153.00410,W,1,10,0.9,-3.16,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,184844.00,3637.99465,N,12153.00405,W,1,10,0.9,-3.05,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,184845.00,3637.99468,N,12153.00398,W,1,10,0.9,-3.18,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,184846.00,3637.99473,N,12153.00401,W,1,10,0.9,-3.49,M,-33.23,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: AshtechGps::processRecord() - $GPGGA,184847.00,3637.99482,N,12153.00409,W,1,10,0.9,-3.55,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,184848.00,3637.99488,N,12153.00422,W,1,10,0.9,-3.36,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,184849.00,3637.99497,N,12153.00422,W,1,10,0.9,-3.09,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,184850.00,3637.99489,N,12153.00420,W,1,10,0.9,-2.80,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,184851.00,3637.99489,N,12153.00397,W,1,10,0.9,-2.41,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 745744432
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184852.00,3637.99463,N,12153.00384,W,1,10,0.9,-2.23,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,184853.00,3637.99457,N,12153.00348,W,1,10,0.9,-2.41,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,184854.00,3637.99442,N,12153.00329,W,1,10,0.9,-2.54,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,184855.00,3637.99440,N,12153.00305,W,1,10,0.9,-2.67,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,184856.00,3637.99434,N,12153.00291,W,1,10,0.9,-3.35,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,184857.00,3637.99441,N,12153.00302,W,1,10,0.9,-4.10,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,184858.00,3637.99468,N,12153.00330,W,1,10,0.9,-4.22,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 1230058133
: AshtechGps::processRecord() - $GPGGA,184859.00,3637.99486,N,12153.00369,W,1,10,0.9,-3.79,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,184900.00,3637.99505,N,12153.00384,W,1,10,0.9,-3.54,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,184901.00,3637.99506,N,12153.00389,W,1,10,0.9,-3.02,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,184902.00,3637.99505,N,12153.00382,W,1,10,0.9,-2.37,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,184903.00,3637.99493,N,12153.00353,W,1,10,0.9,-1.91,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,184904.00,3637.99466,N,12153.00318,W,1,10,0.9,-2.02,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,184905.00,3637.99449,N,12153.00278,W,1,10,0.9,-2.39,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,184906.00,3637.99434,N,12153.00258,W,1,10,0.9,-2.82,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,184907.00,3637.99441,N,12153.00250,W,1,10,0.9,-3.05,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,184908.00,3637.99445,N,12153.00254,W,1,10,0.9,-3.15,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,184909.00,3637.99454,N,12153.00255,W,1,10,0.9,-3.31,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,184910.00,3637.99458,N,12153.00258,W,1,10,0.9,-3.23,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,184911.00,3637.99461,N,12153.00255,W,1,10,0.9,-3.25,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,184912.00,3637.99471,N,12153.00259,W,1,10,0.9,-3.71,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,184913.00,3637.99482,N,12153.00286,W,1,10,0.9,-3.81,M,-33.23,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 314266887
: 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,184914.00,3637.99500,N,12153.00307,W,1,10,0.9,-3.47,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,184915.00,3637.99493,N,12153.00320,W,1,10,0.9,-3.03,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,184916.00,3637.99504,N,12153.00305,W,1,10,0.9,-2.40,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,184917.00,3637.99486,N,12153.00286,W,1,10,0.9,-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,184918.00,3637.99477,N,12153.00232,W,1,10,0.9,-1.87,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,184919.00,3637.99447,N,12153.00190,W,1,10,0.9,-2.36,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,184920.00,3637.99448,N,12153.00181,W,1,10,0.9,-3.13,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,184921.00,3637.99461,N,12153.00207,W,1,10,0.9,-3.53,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,184922.00,3637.99478,N,12153.00223,W,1,10,0.9,-3.46,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,184923.00,3637.99483,N,12153.00221,W,1,10,0.9,-3.25,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 823546952
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184924.00,3637.99483,N,12153.00212,W,1,10,0.9,-3.14,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,184925.00,3637.99481,N,12153.00205,W,1,10,0.9,-3.08,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,184926.00,3637.99480,N,12153.00200,W,1,10,0.9,-3.21,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,184927.00,3637.99488,N,12153.00192,W,1,10,0.9,-3.53,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,184928.00,3637.99491,N,12153.00200,W,1,10,0.9,-3.53,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,184929.00,3637.99510,N,12153.00203,W,1,10,0.9,-3.28,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,184930.00,3637.99505,N,12153.00203,W,1,10,0.9,-2.96,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,184931.00,3637.99513,N,12153.00186,W,1,10,0.9,-2.80,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,184932.00,3637.99509,N,12153.00176,W,1,10,0.9,-2.70,M,-33.23,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 322964702
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,184933.00,3637.99503,N,12153.00167,W,1,10,0.9,-2.66,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,184934.00,3637.99499,N,12153.00156,W,1,10,0.9,-2.68,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,184935.00,3637.99489,N,12153.00142,W,1,10,0.9,-2.69,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,184936.00,3637.99490,N,12153.00133,W,1,10,0.9,-2.90,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,184937.00,3637.99489,N,12153.00137,W,1,10,0.9,-2.98,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,184938.00,3637.99493,N,12153.00132,W,1,10,0.9,-3.25,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,184939.00,3637.99496,N,12153.00127,W,1,10,0.9,-3.40,M,-33.23,M,,*74

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.600000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,184940.00,3637.99499,N,12153.00130,W,1,10,0.9,-3.32,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,184941.00,3637.99501,N,12153.00132,W,1,10,0.9,-3.13,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,184942.00,3637.99507,N,12153.00127,W,1,10,0.9,-2.99,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,184943.00,3637.99509,N,12153.00124,W,1,10,0.9,-3.25,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,184944.00,3637.99518,N,12153.00131,W,1,10,0.9,-3.52,M,-33.23,M,,*7D

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task 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 ****

: **** 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 ****

: **** 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

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object m3dmgx1Cmd ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:000213A0.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: 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 LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
