Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
createTask() - externalCommsServer
S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
upervisor::createTask() - navigationServer
Supervisor::createTask() - lay: WorkSite::WorkSite -- Finished loading parameters
ere: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
dContr: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
olSe: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
rver: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5

: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x2300c
Supervisor::crea: New Navigation component constructor
teTask() - d: Navigation - Using only the Dvl to compute altitude.
ynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciSe: Preparing to fork

rver
: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: SerialDevice: done...

: SerialDevice: done...

: I'm the child...forking

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

visor::createTask() - fanServer
Su: SerialDevice: done...

perv: SerialDevice: done...

isor::createTas: SerialDevice: done...

k() -: Crossbow.cc: In getSerialNumber()
 dropWeightServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: Gps: initializing

: SerialDevice: done...

: SerialDevice: done...

Supe: SerialDevice: done...

rvisor::createTask() - sonardyneServer
: SerialDevice: done...

: ahrs if is Ahrs

Supervisor::createTask() - cameraServer
Supervis: SerialDevice: done...

or::createTask() - echoSounderServer
: SonardyneServer.cc was last compiled on Dec 17 2008, 22:08:50

: SerialDevice: done...

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

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SonardyneDriver.cc was last compiled on Dec 18 2008, 21:51:44

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

: SerialDevice: done...

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

: EchoSounder -- configuration:
	Maximum Range  = 10 m
	StartGain      = 10 dB
	Absorption     = 0.20 dB/m
	Pulse Length   = 30 microseconds
	Minimum Range  = 0.10 m
	Trigger Control= 0 
	Profile        = 0
	Delay          = 0 milliseconds
	xz mounting an.= 90.00 degrees
	head angle     = -90.00 degrees

: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: 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
: SerialDevice: done...

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 3638.01495,N,12152.95801,W,1,11,0.8,-3.10,M,-33.23,M,,*74

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,190944.00,3638.01498,N,12152.95805,W,1,11,0.8,-2.84,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,190945.00,3638.01504,N,12152.95804,W,1,11,0.8,-2.74,M,-33.23,M,,*7D

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.000000, D:0.000000, U:0.000000, Q:0.000000

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.000000, D:0.000000, U:0.000000, Q:0.000000

: AshtechGps::processRecord() - $GPGGA,190946.00,3638.01506,N,12152.95795,W,1,11,0.8,-2.55,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,190947.00,3638.01498,N,12152.95781,W,1,11,0.8,-2.26,M,-33.23,M,,*7E

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,190948.00,3638.01493,N,12152.95765,W,1,11,0.8,-2.43,M,-33.23,M,,*73

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138950
: AshtechGps::processRecord() - $GPGGA,190949.00,3638.01487,N,12152.95765,W,1,11,0.8,-2.60,M,-33.23,M,,*76

: Parosci.cc -- Parosci initial temp period = 5.842463
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,190950.00,3638.01512,N,12152.95765,W,1,11,0.8,-2.08,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,190951.00,3638.01508,N,12152.95763,W,1,11,0.8,-1.91,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,190952.00,3638.01500,N,12152.95752,W,1,11,0.8,-2.00,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,190953.00,3638.01502,N,12152.95740,W,1,11,0.8,-1.97,M,-33.23,M,,*7D

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,190954.00,3638.01506,N,12152.95741,W,1,11,0.8,-2.64,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,190955.00,3638.01507,N,12152.95756,W,1,11,0.8,-2.85,M,-33.23,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 929141937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190956.00,3638.01524,N,12152.95761,W,1,11,0.8,-2.70,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,190957.00,3638.01524,N,12152.95775,W,1,11,0.8,-2.57,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,190958.00,3638.01541,N,12152.95785,W,1,11,0.8,-1.88,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,190959.00,3638.01523,N,12152.95777,W,1,11,0.8,-1.67,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,191000.00,3638.01512,N,12152.95743,W,1,11,0.8,-1.55,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,191001.00,3638.01507,N,12152.95710,W,1,11,0.8,-1.73,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,191002.00,3638.01512,N,12152.95691,W,1,11,0.8,-2.27,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,191003.00,3638.01519,N,12152.95707,W,1,11,0.8,-2.82,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,191004.00,3638.01527,N,12152.95741,W,1,11,0.8,-3.01,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,191005.00,3638.01533,N,12152.95760,W,1,11,0.8,-2.64,M,-33.23,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,191006.00,3638.01534,N,12152.95749,W,1,11,0.8,-2.07,M,-33.23,M,,*73

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 428422687
: 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,191007.00,3638.01528,N,12152.95724,W,1,11,0.8,-1.82,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,191008.00,3638.01521,N,12152.95692,W,1,11,0.8,-1.59,M,-33.23,M,,*76

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: AshtechGps::processRecord() - $GPGGA,191009.00,3638.01509,N,12152.95667,W,1,11,0.8,-2.11,M,-33.23,M,,*78

: 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,191010.00,3638.01511,N,12152.95657,W,1,11,0.8,-2.47,M,-33.23,M,,*79

: 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,191011.00,3638.01529,N,12152.95663,W,1,11,0.8,-3.00,M,-33.23,M,,*76

: 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,191012.00,3638.01539,N,12152.95697,W,1,11,0.8,-3.41,M,-33.23,M,,*7A

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.399425) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.399425) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,191013.00,3638.01564,N,12152.95733,W,1,11,0.8,-2.73,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,191014.00,3638.01556,N,12152.95741,W,1,11,0.8,-2.10,M,-33.23,M,,*7A

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 927840437
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191015.00,3638.01565,N,12152.95710,W,1,11,0.8,-1.07,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,191016.00,3638.01536,N,12152.95670,W,1,11,0.8,-0.97,M,-33.23,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,191017.00,3638.01508,N,12152.95630,W,1,11,0.8,-1.33,M,-33.23,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,191018.00,3638.01490,N,12152.95596,W,1,11,0.8,-1.94,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,191019.00,3638.01495,N,12152.95576,W,1,11,0.8,-2.64,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,191020.00,3638.01498,N,12152.95571,W,1,11,0.8,-2.81,M,-33.23,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,191021.00,3638.01511,N,12152.95565,W,1,11,0.8,-2.99,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,191022.00,3638.01518,N,12152.95549,W,1,11,0.8,-3.03,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,191023.00,3638.01514,N,12152.95523,W,1,11,0.8,-2.71,M,-33.23,M,,*79

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 427258187
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191024.00,3638.01511,N,12152.95474,W,1,11,0.8,-2.49,M,-33.23,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,191025.00,3638.01506,N,12152.95418,W,1,11,0.8,-2.33,M,-33.23,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,191026.00,3638.01503,N,12152.95355,W,1,11,0.8,-1.90,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,191027.00,3638.01495,N,12152.95276,W,1,11,0.8,-1.93,M,-33.23,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,191028.00,3638.01499,N,12152.95185,W,1,11,0.8,-2.04,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,191029.00,3638.01517,N,12152.95111,W,1,11,0.8,-2.60,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,191030.00,3638.01546,N,12152.95054,W,1,11,0.8,-2.71,M,-33.23,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,191031.00,3638.01573,N,12152.94995,W,1,11,0.8,-2.66,M,-33.23,M,,*7D

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 926675937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191032.00,3638.01603,N,12152.94929,W,1,11,0.8,-2.47,M,-33.23,M,,*7E

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

: AshtechGps::processRecord() - $GPGGA,191033.00,3638.01641,N,12152.94856,W,1,11,0.8,-2.87,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,191034.00,3638.01692,N,12152.94817,W,1,11,0.8,-3.39,M,-33.23,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,191035.00,3638.01754,N,12152.94793,W,1,11,0.8,-3.55,M,-33.23,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,191036.00,3638.01821,N,12152.94767,W,1,11,0.8,-3.33,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,191037.00,3638.01884,N,12152.94713,W,1,11,0.8,-2.69,M,-33.23,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,191038.00,3638.01941,N,12152.94665,W,1,11,0.8,-2.29,M,-33.23,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,191039.00,3638.01992,N,12152.94602,W,1,11,0.8,-2.04,M,-33.23,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,191040.00,3638.02048,N,12152.94559,W,1,11,0.8,-1.89,M,-33.23,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 426093687
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191041.00,3638.02104,N,12152.94515,W,1,11,0.8,-1.78,M,-33.23,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,191042.00,3638.02164,N,12152.94481,W,1,11,0.8,-2.17,M,-33.23,M,,*76

: LayeredControl::execute() -- (t = 38.597356) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 38.597356) Behavior descend:-1 has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,191043.00,3638.02229,N,12152.94465,W,1,11,0.8,-2.88,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,191044.00,3638.02309,N,12152.94482,W,1,11,0.8,-3.46,M,-33.23,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,191045.00,3638.02400,N,12152.94524,W,1,11,0.8,-3.48,M,-33.23,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,191046.00,3638.02489,N,12152.94551,W,1,11,0.8,-3.18,M,-33.23,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,191047.00,3638.02574,N,12152.94560,W,1,11,0.8,-2.49,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,191048.00,3638.02641,N,12152.94538,W,1,11,0.8,-1.84,M,-33.23,M,,*76

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 925511437
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191049.00,3638.02705,N,12152.94522,W,1,11,0.8,-1.67,M,-33.23,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,191050.00,3638.02765,N,12152.94495,W,1,11,0.8,-1.69,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,191051.00,3638.02830,N,12152.94482,W,1,11,0.8,-1.80,M,-33.23,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,191052.00,3638.02890,N,12152.94473,W,1,11,0.8,-2.40,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,191053.00,3638.02964,N,12152.94480,W,1,11,0.8,-2.91,M,-33.23,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,191054.00,3638.03040,N,12152.94502,W,1,11,0.8,-3.22,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,191055.00,3638.03168,N,12152.94517,W,1,06,1.5,-2.73,M,-33.23,M,,*7B

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

: AshtechGps::processRecord() - $GPGGA,191056.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191057.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 424929187
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191058.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,191059.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,191100.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191101.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191102.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191103.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191104.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191105.00,,,,,0,00,,,M,,M,,*45

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 924346937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191106.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191107.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191108.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191109.00,,,,,0,00,,,M,,M,,*49

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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191110.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191111.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191112.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191113.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191114.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191115.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191116.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191117.00,,,,,0,00,,,M,,M,,*46

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 923524937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191118.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191119.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,191120.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191121.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191122.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191123.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191124.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191125.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191126.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 422942687
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191127.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191128.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,191129.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191130.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191131.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191132.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191133.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191134.00,,,,,0,00,,,M,,M,,*47

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 922360437
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191135.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191136.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191137.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,191138.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,191139.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191140.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,191141.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191142.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191143.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421778187
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191144.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191145.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191146.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191147.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191148.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,191149.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,191150.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191151.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921195937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191152.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191153.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191154.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191155.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.500000, D:0.000000, U:0.000000, Q:-nan

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

: AshtechGps::processRecord() - $GPGGA,191156.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191157.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191158.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,191159.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,191200.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191201.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191202.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191203.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920373937
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191204.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191205.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191206.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191207.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191208.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,191209.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,191210.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191211.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191212.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191213.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191214.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191215.00,,,,,0,00,,,M,,M,,*47

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 929551252
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191216.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,191217.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191218.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191219.00,,,,,0,00,,,M,,M,,*4B

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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191220.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191221.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191222.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191223.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191224.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191225.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191226.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191227.00,,,,,0,00,,,M,,M,,*46

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 928729252
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191228.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191229.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,191230.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191231.00,,,,,0,00,,,M,,M,,*41

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

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

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

: AshtechGps::processRecord() - $GPGGA,191232.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191233.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191234.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.200000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,191235.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191236.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191237.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191238.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-7.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-7.600000, D:0.000000, U:0.000000, Q:-nan

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

: AshtechGps::processRecord() - $GPGGA,191239.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191240.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191241.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191242.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191243.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,191244.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191245.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191246.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 927427752
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191247.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191248.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,191249.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191250.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191251.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191252.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,191253.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191254.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191255.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 426845502
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191256.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191257.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,191258.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,191259.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,191300.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191301.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191302.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191303.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 926263252
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191304.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191305.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191306.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,191307.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191308.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,191309.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,191310.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191311.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191312.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 425681002
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191313.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,191314.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191315.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191316.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191317.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191318.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,191319.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,191320.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 925098752
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191321.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191322.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,191323.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,191324.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191325.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,191326.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,191327.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,191328.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191329.00,,,,,0,00,,,M,,M,,*49

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

: Descend::execute() - Descend terminating on altitude 19.899541 < 20.000000 at time 205.995888

: LayeredControl::execute() -- (t = 205.995888) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 205.995888) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,191330.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191331.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191332.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 924276752
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191333.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191334.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191335.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191336.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191337.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191338.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191339.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191340.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191341.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 423694502
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191342.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191343.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191344.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191345.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191346.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191347.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191348.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191349.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 923112252
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191350.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191351.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191352.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191353.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191354.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191355.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191356.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191357.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191358.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 422530002
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191359.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191400.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191401.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191402.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191403.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191404.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191405.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191406.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921947752
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191407.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191408.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191409.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191410.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191411.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191412.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191413.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191414.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191415.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421365502
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191416.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191417.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191418.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191419.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191420.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191421.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191422.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191423.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920783252
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191424.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191425.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191426.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191427.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191428.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191429.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 266.191765) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 266.191765) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,191430.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.82
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191431.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191432.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420201002
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=56.83
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191433.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.74
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191434.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191435.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.66
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191436.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.54
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191437.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.29
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191438.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191439.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.27
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191440.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.43
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919618752
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191441.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191442.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.65
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191443.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.79
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191444.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-7.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-7.300000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=56.80
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191445.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191446.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.95
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191447.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.97
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191448.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191449.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.98
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191450.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.79
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191451.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.76
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191452.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 928796067
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191453.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.75
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191454.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.88
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191455.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191456.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.98
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191457.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.98
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191458.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.29
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191459.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 296.199709) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =          296.20.
: LayeredControl::execute() -- (t = 296.199709) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 296.199709) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,191500.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::readData - starting a 333 photo sequence.
: LayeredControl _resolvedCommand - vertMode=2 vert=57.31
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191501.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 428213817
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=57.40
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191502.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191503.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.44
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191504.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.41
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191505.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.28
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191506.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191507.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.28
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191508.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191509.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 927631567
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191510.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.14
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191511.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.20
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191512.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.30
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191513.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191514.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.54
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191515.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.69
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191516.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191517.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.71
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191518.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 427049317
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=57.70
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191519.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.67
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191520.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191521.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.62
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191522.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.43
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191523.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191524.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.33
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191525.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191526.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.30
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191527.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191528.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.45
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191529.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.498739 under allowable altitude 1.500000. Stopping!
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.600000, D:0.000000, U:0.000000, Q:***************************************

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

: DepthEnvelope -- Measured altitude 1.498739 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498739 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.61
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.498563 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191530.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.498563 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498563 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498880 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498880 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498880 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191531.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.499254 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.77
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.499254 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499254 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191532.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.73
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191533.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.499781 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.379752 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.379752 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.379752 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.47
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191534.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.355135 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.355135 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.355135 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.354088 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.354088 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191535.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.354088 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.328063 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.21
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.328063 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.328063 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191536.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.07
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191537.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.326609 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.259888 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 925713567
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.259888 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191538.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.259888 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.95
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.256744 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.256744 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.256744 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.276403 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191539.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.276403 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.276403 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.272454 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.04
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.272454 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.272454 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191540.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.268928 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.268928 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.268928 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.22
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191541.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191542.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.266134 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.36
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191543.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.37
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191544.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191545.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.32
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191546.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 425131317
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.233847 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.22
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.220398 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.220398 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191547.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.220398 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.246004 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.246004 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.246004 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.251590 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.05
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191548.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.251590 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.251590 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.276936 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.276936 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.276936 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191549.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.276936 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.276936 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.02
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.276936 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.303261 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.303261 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191550.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.303261 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.333998 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.333998 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.333998 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.03
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.364643 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191551.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.364643 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.364643 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.364643 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.364643 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.364643 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191552.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.440718 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.14
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.440718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.440718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.441101 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.441101 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191553.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.441101 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.494783 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.494783 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.16
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.494783 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.494783 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191554.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.494783 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.494783 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- altitude 1.640838 over abort altitude 1.500000, starting prop!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 924549067
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=57.20
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191555.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191556.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.21
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191557.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.09
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191558.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191559.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.09
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191600.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.09
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191601.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.08
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191602.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191603.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 423966817
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=57.13
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191604.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.15
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191605.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191606.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.10
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191607.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.03
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191608.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.98
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191609.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191610.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.01
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191611.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.03
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191612.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191613.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.08
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 923247567
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191614.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.13
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191615.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.12
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191616.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191617.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.13
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191618.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.07
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191619.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191620.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.07
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191621.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191622.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.98
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191623.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191624.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 422528317
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=57.09
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191625.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.04
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191626.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191627.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.11
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191628.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.14
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191629.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.14
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191630.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191631.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.15
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191632.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.19
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921946067
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191633.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191634.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.11
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191635.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.15
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191636.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.09
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191637.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191638.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.07
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191639.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.07
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191640.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191641.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.12
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421363817
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191642.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.18
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191643.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.31
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191644.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191645.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.42
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191646.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.41
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191647.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191648.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.37
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191649.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.27
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920781567
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191650.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.12
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191651.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191652.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.05
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191653.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.14
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191654.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191655.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.24
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191656.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.36
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191657.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.50
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191658.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420199317
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191659.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.55
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191700.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.45
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191701.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191702.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.32
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191703.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.18
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191704.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.11
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191705.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191706.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.11
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919617067
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191707.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.18
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191708.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191709.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.35
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191710.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.45
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191711.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.48
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191712.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191713.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.43
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191714.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.38
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191715.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 479030707
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191716.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.37
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191717.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.30
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191718.00,,,,,0,00,,,M,,M,,*4F

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=57.28
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191719.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191720.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.34
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191721.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.29
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191722.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191723.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=57.04
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191724.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498284 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.86
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191725.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.89
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191726.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.271019 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.600000, D:0.000000, U:0.000000, Q:-nan

: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191727.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.73
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.082689 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191728.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.56
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191729.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897343 under allowable altitude 1.500000. Stopping!
: 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

: DepthEnvelope -- Measured altitude 0.819092 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191730.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.819092 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.49
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.819092 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.794188 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.794188 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.794188 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191731.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.793866 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.793866 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.793866 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.42
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.793564 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.793564 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191732.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.793564 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.793564 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.793564 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.793564 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.30
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191733.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191734.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.738628 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.706213 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.706213 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191735.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.706213 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681958 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681958 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681958 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.14
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.681935 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191736.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.681935 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681935 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.682059 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.682059 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.682059 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191737.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.682056 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.15
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.682056 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.682056 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681912 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681912 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191738.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.681912 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 427458632
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.18
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191739.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=56.18
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191740.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.681901 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191741.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191742.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191743.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191744.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191745.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191746.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 926876382
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191747.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191748.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191749.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- altitude 42.211951 over abort altitude 1.500000, starting prop!
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191750.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191751.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191752.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191753.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191754.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191755.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 426294132
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191756.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191757.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191758.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191759.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191800.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191801.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191802.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191803.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 925711882
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191804.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191805.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191806.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191807.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191808.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191809.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191810.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191811.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191812.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 425129632
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191813.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191814.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191815.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191816.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191817.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191818.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191819.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191820.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 924547382
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191821.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191822.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191823.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191824.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.800000, D:0.000000, U:0.000000, Q:***************************************

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

: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191825.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191826.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191827.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191828.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191829.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191830.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191831.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191832.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 923725382
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191833.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191834.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191835.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191836.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191837.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191838.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191839.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191840.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230059915
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191841.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191842.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191843.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191844.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191845.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191846.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191847.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191848.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 422663632
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191849.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191850.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191851.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191852.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191853.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191854.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191855.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191856.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 922081382
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191857.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191858.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191859.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191900.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191901.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191902.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191903.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191904.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191905.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421499132
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191906.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191907.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191908.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191909.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191910.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191911.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191912.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191913.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920916882
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191914.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191915.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191916.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191917.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191918.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191919.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191920.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191921.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191922.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420334632
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191923.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191924.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191925.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191926.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191927.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191928.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191929.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191930.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191931.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191932.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191933.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191934.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 429511947
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191935.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191936.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191937.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191938.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191939.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191940.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191941.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191942.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 928929697
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191943.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191944.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191945.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191946.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191947.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191948.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191949.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191950.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191951.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 428347447
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191952.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191953.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191954.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191955.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191956.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191957.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191958.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191959.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 927765197
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192000.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192001.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192002.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192003.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192004.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192005.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192006.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192007.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192008.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 427182947
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192009.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192010.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192011.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192012.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192013.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192014.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192015.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192016.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 926600697
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192017.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192018.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192019.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192020.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192021.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192022.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192023.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192024.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192025.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192026.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192027.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192028.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 925778697
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192029.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192030.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192031.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192032.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192033.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192034.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192035.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192036.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192037.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 425196447
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192038.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192039.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192040.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192041.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192042.00,,,,,0,00,,,M,,M,,*44

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

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

: AshtechGps::processRecord() - $GPGGA,192043.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192044.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192045.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192046.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192047.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192048.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192049.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192050.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192051.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 424237447
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192052.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192053.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192054.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192055.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192056.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192057.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192058.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192059.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 923655197
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192100.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192101.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192102.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192103.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192104.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192105.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192106.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192107.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192108.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 423072947
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192109.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192110.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192111.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192112.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192113.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192114.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192115.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192116.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 922490697
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192117.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192118.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192119.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192120.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,192121.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192122.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192123.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192124.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192125.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192126.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192127.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192128.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921668697
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192129.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192130.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192131.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192132.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192133.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192134.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192135.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192136.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192137.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421086447
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192138.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192139.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192140.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192141.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192142.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192143.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192144.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192145.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920504197
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192146.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192147.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192148.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192149.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192150.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192151.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192152.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192153.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192154.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419921947
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192155.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192156.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192157.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192158.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192159.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192200.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192201.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192202.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 929339012
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192203.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192204.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192205.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192206.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192207.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192208.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192209.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192210.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192211.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192212.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192213.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192214.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192215.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192216.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192217.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192218.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192219.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230060135
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192220.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192221.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192222.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192223.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192224.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192225.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192226.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192227.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192228.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192229.00,,,,,0,00,,,M,,M,,*4B

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192230.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192231.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192232.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192233.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192234.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192235.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192236.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192237.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192238.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192239.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192240.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192241.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192242.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192243.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192244.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192245.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 926393512
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192246.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192247.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192248.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192249.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192250.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192251.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192252.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192253.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192254.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192255.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192256.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192257.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192258.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230060174
: AshtechGps::processRecord() - $GPGGA,192259.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192300.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192301.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192302.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192303.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192304.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192305.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192306.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192307.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192308.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192309.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192310.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192311.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230060186
: AshtechGps::processRecord() - $GPGGA,192312.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192313.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192314.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192315.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192316.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192317.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192318.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192319.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192320.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 796.395443) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 796.395443) Behavior ascend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192321.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192322.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 423893262
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192323.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192324.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192325.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192326.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192327.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192328.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192329.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192330.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192331.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192332.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192333.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192334.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 923037012
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192335.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192336.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192337.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192338.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192339.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192340.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192341.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192342.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.300000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192343.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192344.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192345.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192346.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192347.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192348.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192349.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192350.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921941012
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192351.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192352.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192353.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192354.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192355.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192356.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192357.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192358.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192359.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421358762
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192400.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192401.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192402.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192403.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192404.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192405.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192406.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192407.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192408.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192409.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192410.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192411.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920502512
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192412.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192413.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192414.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192415.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192416.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192417.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192418.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192419.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192420.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419920262
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192421.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192422.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192423.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192424.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192425.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192426.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192427.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192428.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 929337327
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192429.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192430.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192431.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192432.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192433.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192434.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192435.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192436.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192437.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192438.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192439.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192440.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192441.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192442.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192443.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192444.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192445.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 428207077
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192446.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192447.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192448.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192449.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192450.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192451.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192452.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192453.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192454.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192455.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 927487827
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192456.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192457.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192458.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192459.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192500.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192501.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192502.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192503.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192504.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192505.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192506.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192507.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192508.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 426631577
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192509.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192510.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192511.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192512.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192513.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192514.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192515.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192516.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 926049327
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192517.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192518.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192519.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192520.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192521.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192522.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192523.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192524.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192525.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 425467077
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192526.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192527.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192528.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192529.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:107.400000, N:19.000000, D:0.000000, U:0.000193, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:107.400000, N:19.000000, D:0.000000, U:0.000193, Q:-nan

: AshtechGps::processRecord() - $GPGGA,192530.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192531.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192532.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192533.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192534.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192535.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192536.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192537.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192538.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192539.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192540.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192541.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192542.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 924268327
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192543.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192544.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192545.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192546.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192547.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192548.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192549.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230060344
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192550.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192551.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192552.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192553.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192554.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:13.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:13.600000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,192555.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192556.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192557.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192558.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192559.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:116.200000, N:30.500000, D:0.000000, U:0.000297, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:116.200000, N:30.500000, D:0.000000, U:0.000297, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192600.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192601.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192602.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:110.900000, N:28.700000, D:0.000000, U:0.001656, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:110.900000, N:28.700000, D:0.000000, U:0.001656, Q:-nan

: AshtechGps::processRecord() - $GPGGA,192603.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192604.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192605.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192606.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192607.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192609.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192610.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192611.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192612.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192613.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,192614.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192615.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230060370
: AshtechGps::processRecord() - $GPGGA,192616.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 972.393386) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 972.393386) Behavior getgps:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192617.00,,,,,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,192618.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192619.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192620.00,,,,,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,192621.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192622.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192623.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921459827
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192624.00,,,,,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,192625.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192626.00,,,,,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,192627.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192628.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192629.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192630.00,3637.91043,N,12152.91193,W,1,09,1.1,-4.74,M,-33.23,M,,*76

: 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,192631.00,,,,,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,192632.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192633.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192634.00,,,,,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,192635.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230060390
: AshtechGps::processRecord() - $GPGGA,192636.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192637.00,,,,,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,192638.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192639.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192640.00,,,,,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,192641.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192642.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192643.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420124077
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192644.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192645.00,,,,,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,192646.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192647.00,,,,,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,192648.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192649.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192650.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192651.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 929541142
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192652.00,,,,,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,192653.00,3637.90530,N,12152.91324,W,1,06,1.9,-4.10,M,-33.23,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,192654.00,3637.90427,N,12152.91405,W,1,09,0.9,-2.71,M,-33.23,M,,*73

: 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,192655.00,3637.90431,N,12152.91486,W,1,10,0.9,-0.69,M,-33.23,M,,*7D

: 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,192656.00,3637.90410,N,12152.91519,W,1,10,0.9,-1.09,M,-33.23,M,,*7D

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: AshtechGps::processRecord() - $GPGGA,192657.00,3637.90380,N,12152.91450,W,1,10,0.9,-2.69,M,-33.23,M,,*7B

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192658.00,3637.90355,N,12152.91481,W,1,10,0.9,-2.70,M,-33.23,M,,*78

: 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,192659.00,3637.90360,N,12152.91500,W,1,10,0.9,-3.45,M,-33.23,M,,*70

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192700.00,3637.90371,N,12152.91535,W,1,10,0.9,-3.20,M,-33.23,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 428958892
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192701.00,3637.90370,N,12152.91542,W,1,10,0.9,-3.23,M,-33.23,M,,*7B

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1017.400303) 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 = 1017.600290) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1017.600290) Behavior missionTimer:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192702.00,3637.90376,N,12152.91573,W,1,10,0.9,-3.09,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,192703.00,3637.90370,N,12152.91597,W,1,10,0.9,-2.80,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,192704.00,3637.90364,N,12152.91618,W,1,10,0.9,-2.44,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,192705.00,3637.90344,N,12152.91621,W,1,10,0.9,-1.75,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,192706.00,3637.90330,N,12152.91626,W,1,10,0.9,-1.79,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,192707.00,3637.90313,N,12152.91615,W,1,10,0.9,-2.09,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,192708.00,3637.90306,N,12152.91616,W,1,10,0.9,-2.36,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 928376642
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192709.00,3637.90313,N,12152.91646,W,1,10,0.9,-2.86,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,192710.00,3637.90315,N,12152.91677,W,1,10,0.9,-2.70,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,192711.00,3637.90318,N,12152.91703,W,1,10,0.9,-2.42,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000422A0.
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: 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 LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

:  CameraDestructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object m3dmgx1 ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:000213A0.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298.
: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
