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() - externalComms: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
Server
Supervisor::createTask() - navigationServer
Supervisor::createTask() - la: WorkSite::WorkSite -- Finished loading parameters
yer: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
edC: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
ont: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
rolS: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
erve: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
r
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
Su: WorkSite server: 0x2300c
pervisor::createTask() - dynamicControlServer
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
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
Superv: SerialDevice: done...

isor::createTask: SerialDevice: done...

() - : Crossbow.cc: In getSerialNumber()
drop: SerialDevice: done...

WeightServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: Gps: initializing

: SerialDevice: done...

: SerialDevice: done...

Sup: SerialDevice: done...

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

Supervisor::createTask() - cameraServer
: ahrs if is Ahrs

Supervis: SerialDevice: done...

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

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

: SerialDevice: done...

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

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

: SerialDeviceDriver::initialize()
: CameraDriver:: Before navigation IF.
: 
 Starting DVL Initialization.

: SerialDevice: done...

: 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      = 20 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() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: SerialDevice: done...

: 3 Modules found
: TP00:00.00
>
: AshtechGps::processRecord() - 638.23367,N,12152.64957,W,1,11,0.9,-2.81,M,-33.25,M,,*7C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: header is 
7D01

:  Dvl record header not found.  Resynchronize.

: AshtechGps::processRecord() - $GPGGA,205303.00,3638.23361,N,12152.64944,W,1,11,0.9,-2.76,M,-33.25,M,,*71

:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,205304.00,3638.23357,N,12152.64945,W,1,11,0.9,-2.88,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,205305.00,3638.23361,N,12152.64942,W,1,11,0.9,-3.08,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,205306.00,3638.23358,N,12152.64938,W,1,11,0.9,-2.99,M,-33.25,M,,*74

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,205307.00,3638.23364,N,12152.64923,W,1,11,0.9,-2.91,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,205308.00,3638.23361,N,12152.64923,W,1,11,0.9,-3.01,M,-33.25,M,,*7A

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.139020
: Parosci.cc -- Parosci initial temp period = 5.842384
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,205309.00,3638.23369,N,12152.64935,W,1,11,0.9,-3.12,M,-33.25,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230065583
: AshtechGps::processRecord() - $GPGGA,205310.00,3638.23369,N,12152.64929,W,1,11,0.9,-2.81,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,205311.00,3638.23363,N,12152.64897,W,1,11,0.9,-2.31,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,205312.00,3638.23353,N,12152.64875,W,1,11,0.9,-2.36,M,-33.25,M,,*77

: SonardyneDriver::acquireDiagData() - S:100.000000, N:11.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SonardyneDriver::acquireDiagData() - S:100.000000, N:11.600000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,205313.00,3638.23344,N,12152.64856,W,1,11,0.9,-2.45,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,205314.00,3638.23339,N,12152.64840,W,1,11,0.9,-2.58,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,205315.00,3638.23343,N,12152.64842,W,1,11,0.9,-2.98,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,205316.00,3638.23350,N,12152.64860,W,1,11,0.9,-3.30,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,205317.00,3638.23357,N,12152.64865,W,1,11,0.9,-3.29,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,205318.00,3638.23360,N,12152.64860,W,1,11,0.9,-3.04,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,205319.00,3638.23363,N,12152.64847,W,1,11,0.9,-2.78,M,-33.25,M,,*74

: AshtechGps::processRecord() - $GPGGA,205320.00,3638.23362,N,12152.64838,W,1,11,0.9,-2.64,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,205321.00,3638.23367,N,12152.64834,W,1,11,0.9,-2.54,M,-33.25,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 477081190
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205322.00,3638.23356,N,12152.64821,W,1,11,0.9,-2.31,M,-33.25,M,,*77

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

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

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

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,205323.00,3638.23347,N,12152.64787,W,1,11,0.9,-2.19,M,-33.25,M,,*7F

: **** 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,205324.00,3638.23330,N,12152.64771,W,1,11,0.9,-2.46,M,-33.25,M,,*7B

: 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,205325.00,3638.23334,N,12152.64768,W,1,11,0.9,-2.89,M,-33.25,M,,*75

: 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,205326.00,3638.23338,N,12152.64772,W,1,11,0.9,-3.18,M,-33.25,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: AshtechGps::processRecord() - $GPGGA,205327.00,3638.23339,N,12152.64772,W,1,11,0.9,-3.11,M,-33.25,M,,*71

: 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,205328.00,3638.23354,N,12152.64774,W,1,11,0.9,-3.12,M,-33.25,M,,*70

: 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,205329.00,3638.23353,N,12152.64788,W,1,11,0.9,-3.02,M,-33.25,M,,*74

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 976498940
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205330.00,3638.23356,N,12152.64785,W,1,11,0.9,-2.57,M,-33.25,M,,*75

: 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,205331.00,3638.23353,N,12152.64780,W,1,11,0.9,-2.20,M,-33.25,M,,*74

: 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,205332.00,3638.23349,N,12152.64770,W,1,11,0.9,-2.19,M,-33.25,M,,*79

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

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

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

: AshtechGps::processRecord() - $GPGGA,205333.00,3638.23345,N,12152.64748,W,1,11,0.9,-2.29,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,205334.00,3638.23330,N,12152.64715,W,1,11,0.9,-2.22,M,-33.25,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,205335.00,3638.23325,N,12152.64691,W,1,11,0.9,-2.46,M,-33.25,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,205336.00,3638.23325,N,12152.64698,W,1,11,0.9,-2.93,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,205337.00,3638.23334,N,12152.64713,W,1,11,0.9,-3.16,M,-33.25,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,205338.00,3638.23342,N,12152.64738,W,1,11,0.9,-3.31,M,-33.25,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 475916690
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205339.00,3638.23356,N,12152.64767,W,1,11,0.9,-3.39,M,-33.25,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,205340.00,3638.23373,N,12152.64797,W,1,11,0.9,-3.18,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,205341.00,3638.23387,N,12152.64836,W,1,11,0.9,-2.87,M,-33.25,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,205342.00,3638.23402,N,12152.64864,W,1,11,0.9,-2.54,M,-33.25,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,205343.00,3638.23397,N,12152.64880,W,1,11,0.9,-2.16,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,205344.00,3638.23398,N,12152.64898,W,1,11,0.9,-2.04,M,-33.25,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,205345.00,3638.23389,N,12152.64933,W,1,11,0.9,-2.29,M,-33.25,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,205346.00,3638.23393,N,12152.64986,W,1,11,0.9,-2.71,M,-33.25,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 975334440
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205347.00,3638.23381,N,12152.65029,W,1,11,0.9,-2.94,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,205348.00,3638.23382,N,12152.65081,W,1,11,0.9,-2.91,M,-33.25,M,,*7B

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

: AshtechGps::processRecord() - $GPGGA,205349.00,3638.23372,N,12152.65144,W,1,11,0.9,-2.89,M,-33.25,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,205350.00,3638.23365,N,12152.65218,W,1,11,0.9,-3.20,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,205351.00,3638.23346,N,12152.65285,W,1,11,0.9,-3.30,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,205352.00,3638.23332,N,12152.65353,W,1,11,0.9,-3.23,M,-33.25,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,205353.00,3638.23309,N,12152.65422,W,1,11,0.9,-2.97,M,-33.25,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,205354.00,3638.23273,N,12152.65475,W,1,11,0.9,-2.44,M,-33.25,M,,*7E

: AshtechGps::processRecord() - $GPGGA,205355.00,3638.23228,N,12152.65515,W,1,11,0.9,-2.02,M,-33.25,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 474752190
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205356.00,3638.23170,N,12152.65540,W,1,11,0.9,-2.05,M,-33.25,M,,*7E

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

: AshtechGps::processRecord() - $GPGGA,205357.00,3638.23118,N,12152.65578,W,1,11,0.9,-2.34,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,205358.00,3638.23063,N,12152.65605,W,1,11,0.9,-2.53,M,-33.25,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,205359.00,3638.23013,N,12152.65647,W,1,11,0.9,-2.98,M,-33.25,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,205400.00,3638.22961,N,12152.65690,W,1,11,0.9,-3.21,M,-33.25,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,205401.00,3638.22912,N,12152.65742,W,1,11,0.9,-3.32,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,205402.00,3638.22864,N,12152.65795,W,1,11,0.9,-3.10,M,-33.25,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,205403.00,3638.22804,N,12152.65800,W,1,11,0.9,-2.32,M,-33.25,M,,*7F

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 974169940
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205404.00,3638.22726,N,12152.65785,W,1,11,0.9,-1.73,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,205405.00,3638.22635,N,12152.65766,W,1,11,0.9,-2.04,M,-33.25,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,205406.00,3638.22554,N,12152.65757,W,1,11,0.9,-2.61,M,-33.25,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,205407.00,3638.22487,N,12152.65754,W,1,11,0.9,-3.00,M,-33.25,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,205408.00,3638.22432,N,12152.65766,W,1,11,0.9,-3.39,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,205409.00,3638.22385,N,12152.65775,W,1,11,0.9,-3.49,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,205410.00,3638.22332,N,12152.65787,W,1,11,0.9,-3.30,M,-33.25,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,205411.00,3638.22275,N,12152.65777,W,1,11,0.9,-2.92,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,205412.00,3638.22208,N,12152.65768,W,1,11,0.9,-2.32,M,-33.25,M,,*78

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 473587690
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205413.00,3638.22125,N,12152.65732,W,1,11,0.9,-1.93,M,-33.25,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,205414.00,3638.22038,N,12152.65683,W,1,11,0.9,-1.77,M,-33.25,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,205415.00,3638.21958,N,12152.65646,W,1,11,0.9,-1.95,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,205416.00,3638.21884,N,12152.65604,W,1,11,0.9,-2.32,M,-33.25,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,205417.00,3638.21809,N,12152.65596,W,1,11,0.9,-2.97,M,-33.25,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,205418.00,3638.21748,N,12152.65596,W,1,11,0.9,-3.39,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,205419.00,3638.21699,N,12152.65610,W,1,11,0.9,-3.72,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,205420.00,3638.21651,N,12152.65628,W,1,11,0.9,-3.64,M,-33.25,M,,*75

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 973005440
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205421.00,3638.21595,N,12152.65637,W,1,11,0.9,-3.24,M,-33.25,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,205422.00,3638.21528,N,12152.65626,W,1,11,0.9,-2.59,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,205423.00,3638.21453,N,12152.65586,W,1,11,0.9,-2.12,M,-33.25,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,205424.00,3638.21370,N,12152.65539,W,1,11,0.9,-2.04,M,-33.25,M,,*73

: SonardyneDriver::acquireDiagData() - S:100.000000, N:10.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:10.300000, D:0.000000, U:0.000000, Q:-nan

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

: AshtechGps::processRecord() - $GPGGA,205425.00,3638.21293,N,12152.65507,W,1,11,0.9,-2.34,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,205426.00,3638.21224,N,12152.65492,W,1,11,0.9,-2.72,M,-33.25,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,205427.00,3638.21162,N,12152.65495,W,1,11,0.9,-3.02,M,-33.25,M,,*71

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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:8.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:8.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,205428.00,3638.21105,N,12152.65502,W,1,11,0.9,-3.15,M,-33.25,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,205429.00,3638.21043,N,12152.65502,W,1,11,0.9,-2.83,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,205430.00,3638.20976,N,12152.65484,W,1,11,0.9,-2.65,M,-33.25,M,,*7B

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

: AshtechGps::processRecord() - $GPGGA,205431.00,3638.20903,N,12152.65470,W,1,11,0.9,-2.68,M,-33.25,M,,*7E

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

: AshtechGps::processRecord() - $GPGGA,205432.00,3638.20831,N,12152.65452,W,1,11,0.9,-2.83,M,-33.25,M,,*78

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

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

: AshtechGps::processRecord() - $GPGGA,205433.00,3638.20765,N,12152.65438,W,1,11,0.9,-2.73,M,-33.25,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,205434.00,3638.20699,N,12152.65416,W,1,11,0.9,-2.51,M,-33.25,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,205435.00,3638.20623,N,12152.65394,W,1,11,0.9,-2.45,M,-33.25,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,205436.00,3638.20549,N,12152.65371,W,1,11,0.9,-2.66,M,-33.25,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 471943690
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205437.00,3638.20483,N,12152.65349,W,1,11,0.9,-3.01,M,-33.25,M,,*7E

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

: AshtechGps::processRecord() - $GPGGA,205438.00,3638.20421,N,12152.65335,W,1,11,0.9,-3.30,M,-33.25,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,205439.00,3638.20363,N,12152.65338,W,1,11,0.9,-3.57,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,205440.00,3638.20305,N,12152.65344,W,1,11,0.9,-3.54,M,-33.25,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,205441.00,3638.20246,N,12152.65346,W,1,11,0.9,-3.36,M,-33.25,M,,*7B

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

: AshtechGps::processRecord() - $GPGGA,205442.00,,,,,0,05,18.2,,M,,M,,*5D

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

: AshtechGps::processRecord() - $GPGGA,205443.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205444.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205445.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,205446.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205447.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205448.00,,,,,0,00,,,M,,M,,*47

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 971087440
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205449.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,205450.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205451.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,205452.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205453.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205454.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,205455.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205456.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205457.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 470505190
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205458.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,205459.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,205500.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.000000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,205501.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205502.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205503.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,205504.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205505.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,205506.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205507.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205508.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,205509.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 469683190
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205510.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205511.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205512.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,205513.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205514.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205515.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,205516.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,205517.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 969100940
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=3.14
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205518.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 9.093326 > 9.000000 at time 115.392095

: LayeredControl::execute() -- (t = 115.392095) Behavior descend:-1 has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 115.39                            (wplog)
  The current location (N,E) = 4055120.7      , 600344.9         (wplog)
  The next waypoint          = 4054086.8      , 600378.4         (wplog)
  The bearing to the next w.p. is 178.1 Degrees.

: LayeredControl::execute() -- (t = 115.392095) Behavior waypoint_homing:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,205519.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.11
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205520.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 116.99          Seconds.
:   The vehicle position is (4055118.4, 600345.0)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205521.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205522.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205523.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205524.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205525.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205526.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205527.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205528.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 468381690
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 125.20          Seconds.
:   The vehicle position is is (4055109.0, 600343.7)

: AshtechGps::processRecord() - $GPGGA,205529.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205530.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205531.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205532.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205533.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205534.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205535.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205536.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 977798755
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205537.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205538.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205539.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205540.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205541.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205542.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205543.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205544.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205545.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 477216505
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205546.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205547.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205548.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

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

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

: AshtechGps::processRecord() - $GPGGA,205549.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205550.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205551.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205552.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205553.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205554.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205555.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205556.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205557.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 476394505
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205558.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205559.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205600.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,205601.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205602.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205603.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205604.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205605.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205606.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205607.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205608.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205609.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 475572505
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205610.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205611.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205612.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.500000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,205613.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205614.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205615.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205616.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205617.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205618.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205619.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205620.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205621.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 474750505
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205622.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205623.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205624.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205625.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205626.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205627.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205628.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205629.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 974168255
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205630.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205631.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205632.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205633.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205634.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205635.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205636.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205637.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205638.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 473586005
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205639.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205640.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205641.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205642.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205643.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205644.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205645.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205646.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 973003755
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205647.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205648.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205649.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205650.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205651.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205652.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205653.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205654.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205655.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 472421505
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205656.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205657.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205658.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205659.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205700.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205701.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205702.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205703.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 971839255
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205704.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205705.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:106.500000, N:17.300000, D:0.000000, U:0.006159, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:106.500000, N:17.300000, D:0.000000, U:0.006159, Q:-nan

: AshtechGps::processRecord() - $GPGGA,205706.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205707.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.26
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205708.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 224.79          Seconds.
:   The vehicle position is (4054990.1, 600329.5)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.45
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205709.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.45
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205710.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205711.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205712.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205713.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205714.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,205715.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205716.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,205717.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205718.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 470846005
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.43
	speedMode=1 speed=1.50

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 235.19          Seconds.
:   The vehicle position is is (4054976.5, 600326.9)

: AshtechGps::processRecord() - $GPGGA,205719.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,205720.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205721.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205722.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205723.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,205724.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205725.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,205726.00,,,,,0,00,,,M,,M,,*4C

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 970263755
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205727.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205728.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,205729.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,205730.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205731.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205732.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,205733.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205734.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205735.00,,,,,0,00,,,M,,M,,*4E

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 469681505
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205736.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,205737.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205738.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205739.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,205740.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205741.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205742.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,205743.00,,,,,0,00,,,M,,M,,*4F

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 969099255
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205744.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,205745.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205746.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,205747.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205748.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205749.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,205750.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,205751.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205752.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 468517005
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205753.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,205754.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,205755.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205756.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,205757.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,205758.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,205759.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205800.00,,,,,0,00,,,M,,M,,*47

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 967934755
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205801.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,205802.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205803.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,205804.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,205805.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,205806.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205807.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,205808.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,205809.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 477351820
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205810.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,205811.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,205812.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,205813.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205814.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,205815.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,205816.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205817.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 976769570
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205818.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,205819.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,205820.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205821.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,205822.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,205823.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205824.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,205825.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,205826.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 476187320
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.43
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205827.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205828.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,205829.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,205830.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205831.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,205832.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,205833.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,205834.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 975605070
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205835.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,205836.00,,,,,0,00,,,M,,M,,*42

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

: WaypointHoming: The Usbl has aquired the transponder
  at t = 313.60          Seconds.
:   The vehicle position is (4054875.2, 600295.4)

: AshtechGps::processRecord() - $GPGGA,205837.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205838.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205839.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205840.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205841.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205842.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205843.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205844.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205845.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 474885820
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 322.20          Seconds.
:   The vehicle position is is (4054864.3, 600291.7)

: AshtechGps::processRecord() - $GPGGA,205846.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205847.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205848.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205849.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205850.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205851.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205852.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205853.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 974303570
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205854.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205855.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205856.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205857.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205858.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205859.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205900.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205901.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205902.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 473721320
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205903.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205904.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 341.00          Seconds.
:   The vehicle position is (4054840.0, 600284.7)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.45
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205905.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205906.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205907.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205908.00,,,,,0,00,,,M,,M,,*4E

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205909.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 345.80          Seconds.
:   The vehicle position is is (4054833.8, 600282.9)

: AshtechGps::processRecord() - $GPGGA,205910.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 347.60          Seconds.
:   The vehicle position is (4054831.7, 600281.8)

: AshtechGps::processRecord() - $GPGGA,205911.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205912.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205913.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205914.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205915.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205916.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205917.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205918.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205919.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205920.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205921.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205922.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205923.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 472282820
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 360.20          Seconds.
:   The vehicle position is is (4054824.0, 600269.8)

: AshtechGps::processRecord() - $GPGGA,205924.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205925.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205926.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205927.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205928.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205929.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205930.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205931.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 971700570
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205932.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205933.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205934.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205935.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205936.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205937.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205938.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205939.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205940.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 471118320
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205941.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205942.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205943.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205944.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205945.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205946.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205947.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205948.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 970536070
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,205949.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205950.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205951.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205952.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205953.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205954.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205955.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205956.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205957.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 469953820
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,205958.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,205959.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 395.99          Seconds.
:   The vehicle position is (4054805.4, 600245.4)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.46
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210000.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.41
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210001.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210002.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.41
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210003.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.40
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210004.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.41
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210005.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210006.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210007.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210008.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210009.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210010.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210011.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210012.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210013.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 468857820
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 410.19          Seconds.
:   The vehicle position is is (4054788.5, 600241.7)

: AshtechGps::processRecord() - $GPGGA,210014.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210015.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 411.99          Seconds.
:   The vehicle position is (4054786.9, 600240.1)

: AshtechGps::processRecord() - $GPGGA,210016.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210017.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210018.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210019.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210020.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210021.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210022.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210023.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.50
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 468172820
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 420.20          Seconds.
:   The vehicle position is is (4054778.4, 600233.5)

: AshtechGps::processRecord() - $GPGGA,210024.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210025.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210026.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210027.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210028.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210029.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210030.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210031.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 977589885
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210032.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.50
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210033.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 430.40          Seconds.
:   The vehicle position is (4054766.5, 600227.1)

: AshtechGps::processRecord() - $GPGGA,210034.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210035.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210036.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210037.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210038.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210039.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210040.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230066034
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 437.00          Seconds.
:   The vehicle position is is (4054758.1, 600226.0)

: AshtechGps::processRecord() - $GPGGA,210041.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210042.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210043.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210044.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210045.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210046.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210047.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210048.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 476459635
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210049.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210050.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210051.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210052.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210053.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210054.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210055.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210056.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 975877385
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210057.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210058.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210059.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210100.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210101.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210102.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210103.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210104.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210105.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210106.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210107.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210108.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 975055385
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210109.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210110.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210111.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210112.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210113.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210114.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210115.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210116.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210117.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 474473135
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210118.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210119.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 475.80          Seconds.
:   The vehicle position is (4054717.9, 600195.4)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210120.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210121.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210122.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210123.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210124.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210125.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210126.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210127.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 473788135
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 484.20          Seconds.
:   The vehicle position is is (4054708.3, 600189.4)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210128.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210129.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 485.80          Seconds.
:   The vehicle position is (4054706.5, 600188.1)

: AshtechGps::processRecord() - $GPGGA,210130.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210131.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210132.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210133.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210134.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210135.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210136.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210137.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210138.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.70
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 973000385
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210139.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 495.80          Seconds.
:   The vehicle position is is (4054697.9, 600178.8)

: AshtechGps::processRecord() - $GPGGA,210140.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210141.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210142.00,,,,,0,00,,,M,,M,,*4C

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210143.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210144.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210145.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210146.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210147.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210148.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210149.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210150.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 972178385
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210151.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210152.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210153.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210154.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210155.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210156.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210157.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210158.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210159.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 471596135
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210200.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210201.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210202.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210203.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210204.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210205.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210206.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210207.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 971013885
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210208.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210209.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.70
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 526.39          Seconds.
:   The vehicle position is (4054681.1, 600152.9)

: AshtechGps::processRecord() - $GPGGA,210210.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.66
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210211.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210212.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.42
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210213.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.25
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210214.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210215.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.97
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210216.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210217.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210218.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210219.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210220.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210221.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: AshtechGps::processRecord() - $GPGGA,210222.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210223.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210224.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210225.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210226.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210227.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 399682930
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 544.19          Seconds.
:   The vehicle position is is (4054659.8, 600159.4)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210228.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210229.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 545.79          Seconds.
:   The vehicle position is (4054657.7, 600159.8)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210230.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210231.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:106.800000, N:19.200000, D:0.000000, U:0.010945, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210232.00,,,,,0,00,,,M,,M,,*48

: SonardyneDriver::acquireDiagData() - S:106.800000, N:19.200000, D:0.000000, U:0.010945, Q:***************************************

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 548.99          Seconds.
:   The vehicle position is is (4054653.7, 600160.3)

: AshtechGps::processRecord() - $GPGGA,210233.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:112.500000, N:23.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:112.500000, N:23.400000, D:0.000000, U:0.000000, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210234.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210235.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 551.79          Seconds.
:   The vehicle position is (4054649.9, 600160.7)

: AshtechGps::processRecord() - $GPGGA,210236.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210237.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210238.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210239.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210240.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210241.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210242.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210243.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210244.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210245.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210246.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 468376635
: SonardyneDriver::acquireRangeData() - no valid response
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 563.20          Seconds.
:   The vehicle position is is (4054635.5, 600157.5)

: AshtechGps::processRecord() - $GPGGA,210247.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:110.900000, N:29.800000, D:0.000000, U:0.003363, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:110.900000, N:29.800000, D:0.000000, U:0.003363, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210248.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210249.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210250.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210251.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210252.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210253.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210254.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210255.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210256.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 477690950
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210257.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.93
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210258.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 574.80          Seconds.
:   The vehicle position is (4054621.4, 600152.7)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210259.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210300.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210301.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210302.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210303.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210304.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210305.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:122.700000, N:30.400000, D:0.000000, U:0.002711, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:122.700000, N:30.400000, D:0.000000, U:0.002711, Q:***************************************

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.17
	speedMode=1 speed=1.50

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 582.40          Seconds.
:   The vehicle position is is (4054612.5, 600155.0)

: AshtechGps::processRecord() - $GPGGA,210306.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210307.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 583.80          Seconds.
:   The vehicle position is (4054611.0, 600155.7)

: AshtechGps::processRecord() - $GPGGA,210308.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.18
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210309.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.18
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210310.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210311.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210312.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210313.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.96
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210314.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210315.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.96
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210316.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.96
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210317.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210318.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.96
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210319.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230066193
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.96
	speedMode=1 speed=1.50

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 596.40          Seconds.
:   The vehicle position is is (4054595.0, 600159.2)

: AshtechGps::processRecord() - $GPGGA,210320.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.96
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210321.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 597.80          Seconds.
:   The vehicle position is (4054593.2, 600159.1)

: AshtechGps::processRecord() - $GPGGA,210322.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210323.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210324.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210325.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.94
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210326.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210327.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210328.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210329.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210330.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210331.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210332.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210333.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230066207
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 610.20          Seconds.
:   The vehicle position is is (4054579.3, 600154.0)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210334.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210335.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210336.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210337.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210338.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210339.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210340.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210341.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 974574200
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210342.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210343.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210344.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210345.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210346.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210347.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210348.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210349.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210350.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 473991950
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210351.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:111.300000, N:28.000000, D:0.000000, U:0.006893, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:111.300000, N:28.000000, D:0.000000, U:0.006893, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210352.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210353.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.00
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 630.20          Seconds.
:   The vehicle position is (4054562.0, 600138.6)

: AshtechGps::processRecord() - $GPGGA,210354.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.10
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210355.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,210356.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210357.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.42
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210358.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.41
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210359.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210400.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210401.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210402.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210403.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210404.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210405.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.44
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: AshtechGps::processRecord() - $GPGGA,210406.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:116.100000, N:19.700000, D:0.000000, U:0.000055, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:116.100000, N:19.700000, D:0.000000, U:0.000055, Q:***************************************

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 643.20          Seconds.
:   The vehicle position is is (4054548.0, 600143.7)

: AshtechGps::processRecord() - $GPGGA,210407.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=3.46
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 644.60          Seconds.
:   The vehicle position is (4054546.5, 600144.8)

: AshtechGps::processRecord() - $GPGGA,210408.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.47
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210409.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210410.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210411.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.79
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210412.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.63
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210413.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210414.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210415.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210416.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210417.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210418.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210419.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210420.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230066254
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 657.19          Seconds.
:   The vehicle position is is (4054531.8, 600152.5)

: AshtechGps::processRecord() - $GPGGA,210421.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.64
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 658.59          Seconds.
:   The vehicle position is (4054529.8, 600153.4)

: AshtechGps::processRecord() - $GPGGA,210422.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210423.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210424.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210425.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210426.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.64
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210427.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210428.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.68
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210429.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:123.400000, N:29.100000, D:0.000000, U:0.000112, Q:***************************************

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.84
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210430.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.85
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210431.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210432.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.85
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210433.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.85
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210434.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210435.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210436.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210437.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210438.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210439.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210440.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210441.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210442.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210443.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.86
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 970327200
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210444.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 680.79          Seconds.
:   The vehicle position is is (4054507.5, 600148.0)

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210445.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210446.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210447.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210448.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210449.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210450.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210451.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210452.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 469744950
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210453.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210454.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210455.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210456.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210457.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210458.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210459.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210500.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 969162700
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210501.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210502.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210503.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210504.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210505.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210506.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210507.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210508.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210509.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 468580450
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210510.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=3 horz=2.86
	speedMode=1 speed=1.50

: WaypointHoming: The Usbl has aquired the transponder
  at t = 707.60          Seconds.
:   The vehicle position is (4054492.5, 600123.9)

: AshtechGps::processRecord() - $GPGGA,210511.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=2.89
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210512.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210513.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210514.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210515.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210516.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210517.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210518.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:123.500000, N:30.900000, D:0.000000, U:0.000994, Q:***************************************

: LayeredControl _resolvedCommand - vertMode=2 vert=25.00
	horzlMode=2 horz=3.03
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 715.400992) Behavior waypoint_homing:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 715.400992) Behavior ascend:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,210519.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210520.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210521.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210522.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210523.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210524.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210525.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210526.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210527.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210528.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210529.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210530.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210531.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210532.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210533.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210534.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210535.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210536.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210537.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 906632310
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210538.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210539.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210540.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210541.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210542.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210543.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210544.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210545.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210546.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 476045265
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210547.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210548.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210549.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

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

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

: AshtechGps::processRecord() - $GPGGA,210550.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210551.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210552.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210553.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210554.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210555.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210556.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210557.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210558.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 475223265
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210559.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210600.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210601.00,,,,,0,00,,,M,,M,,*4C

: 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:***************************************

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210602.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210603.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210604.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210605.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210606.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210607.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210608.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210609.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210610.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 474401265
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210611.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210612.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210613.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210614.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210615.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210616.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210617.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210618.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210619.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210620.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210621.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210622.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210623.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210624.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210625.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210626.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210627.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210628.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210629.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 903070310
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210630.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210631.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210632.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210633.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-7.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-7.800000, D:0.000000, U:0.000000, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210634.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210635.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210636.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210637.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210638.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210639.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210640.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210641.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 972243515
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210642.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210643.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210644.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210645.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210646.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210647.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210648.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210649.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210650.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 471661265
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210651.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210652.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210653.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210654.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210655.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210656.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210657.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210658.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 971079015
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210659.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,210700.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 817.593991) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 817.593991) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,210701.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210702.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210703.00,,,,,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,210704.00,,,,,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,210705.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210706.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210707.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 470496765
: 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,210708.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210709.00,,,,,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,210710.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210711.00,,,,,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,210712.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210713.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210714.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210715.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 969914515
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210716.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210717.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210718.00,3637.81806,N,12152.76805,W,1,11,0.8,-2.21,M,-33.25,M,,*72

: 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,210719.00,3637.81819,N,12152.76779,W,1,11,0.8,-1.95,M,-33.25,M,,*75

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,210720.00,3637.81838,N,12152.76760,W,1,11,0.8,-1.97,M,-33.25,M,,*76

: 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,210721.00,3637.81854,N,12152.76748,W,1,11,0.8,-1.98,M,-33.25,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210722.00,3637.81863,N,12152.76728,W,1,11,0.8,-2.34,M,-33.25,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: AshtechGps::processRecord() - $GPGGA,210723.00,3637.81871,N,12152.76696,W,1,11,0.8,-2.76,M,-33.25,M,,*7C

: 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,210724.00,3637.81886,N,12152.76690,W,1,11,0.8,-3.23,M,-33.25,M,,*74

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 469332265
: 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,210725.00,3637.81912,N,12152.76704,W,1,11,0.8,-3.32,M,-33.25,M,,*75

: 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,210726.00,3637.81928,N,12152.76698,W,1,11,0.8,-2.86,M,-33.25,M,,*75

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: AshtechGps::processRecord() - $GPGGA,210727.00,3637.81941,N,12152.76695,W,1,11,0.8,-2.46,M,-33.25,M,,*7A

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 843.792196) 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 = 843.992182) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 843.992182) 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,210728.00,3637.81943,N,12152.76670,W,1,11,0.8,-2.43,M,-33.25,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210729.00,3637.81938,N,12152.76651,W,1,11,0.8,-2.25,M,-33.25,M,,*77

: AshtechGps::processRecord() - $GPGGA,210730.00,3637.81932,N,12152.76630,W,1,11,0.8,-2.36,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1230066444
: AshtechGps::processRecord() - $GPGGA,210731.00,3637.81934,N,12152.76600,W,1,11,0.8,-2.63,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210732.00,3637.81946,N,12152.76601,W,1,11,0.8,-2.96,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,210733.00,3637.81959,N,12152.76585,W,1,11,0.8,-3.14,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210734.00,3637.81980,N,12152.76587,W,1,11,0.8,-3.01,M,-33.25,M,,*77

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.900000, D:0.000000, U:0.000000, Q:***************************************

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210735.00,3637.81992,N,12152.76576,W,1,11,0.8,-2.89,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210736.00,3637.82002,N,12152.76574,W,1,11,0.8,-2.91,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,210737.00,3637.82015,N,12152.76576,W,1,11,0.8,-2.90,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

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

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

: AshtechGps::processRecord() - $GPGGA,210738.00,3637.82027,N,12152.76563,W,1,11,0.8,-2.72,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210739.00,3637.82036,N,12152.76554,W,1,11,0.8,-2.38,M,-33.25,M,,*78

: SonardyneDriver::acquireDiagData() - S:109.700000, N:31.000000, D:0.000000, U:0.008264, Q:***************************************

: SonardyneDriver::acquireDiagData() - S:109.700000, N:31.000000, D:0.000000, U:0.008264, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210740.00,3637.82040,N,12152.76517,W,1,11,0.8,-2.43,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210741.00,3637.82047,N,12152.76523,W,1,11,0.8,-2.55,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210742.00,3637.82046,N,12152.76490,W,1,11,0.8,-2.64,M,-33.25,M,,*73

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.600000, D:0.000000, U:0.000000, Q:***************************************

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210743.00,3637.82051,N,12152.76496,W,1,11,0.8,-2.52,M,-33.25,M,,*77

: AshtechGps::processRecord() - $GPGGA,210744.00,3637.82058,N,12152.76478,W,1,11,0.8,-2.92,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210745.00,3637.82073,N,12152.76493,W,1,11,0.8,-2.87,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210746.00,3637.82083,N,12152.76489,W,1,11,0.8,-2.77,M,-33.25,M,,*74

: 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:***************************************

: AshtechGps::processRecord() - $GPGGA,210747.00,3637.82091,N,12152.76467,W,1,11,0.8,-2.77,M,-33.25,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210748.00,3637.82105,N,12152.76462,W,1,11,0.8,-2.93,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210749.00,3637.82121,N,12152.76454,W,1,11,0.8,-3.01,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210750.00,3637.82140,N,12152.76473,W,1,11,0.8,-2.85,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,210751.00,3637.82151,N,12152.76450,W,1,11,0.8,-2.88,M,-33.25,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210752.00,3637.82164,N,12152.76465,W,1,11,0.8,-2.60,M,-33.25,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210753.00,3637.82172,N,12152.76450,W,1,12,0.8,-2.26,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,210754.00,3637.82172,N,12152.76444,W,1,12,0.8,-1.99,M,-33.25,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 977242330
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210755.00,3637.82162,N,12152.76419,W,1,12,0.8,-1.95,M,-33.25,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210756.00,3637.82161,N,12152.76388,W,1,12,0.8,-2.22,M,-33.25,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210757.00,3637.82170,N,12152.76378,W,1,12,0.8,-2.50,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,210758.00,3637.82179,N,12152.76371,W,1,12,0.8,-2.91,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210759.00,3637.82196,N,12152.76380,W,1,12,0.8,-3.18,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210800.00,3637.82213,N,12152.76380,W,1,12,0.8,-3.01,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,210801.00,3637.82223,N,12152.76375,W,1,12,0.8,-2.79,M,-33.25,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210802.00,3637.82231,N,12152.76373,W,1,12,0.8,-2.72,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210803.00,3637.82242,N,12152.76357,W,1,12,0.8,-2.98,M,-33.25,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 476660080
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210804.00,3637.82257,N,12152.76376,W,1,12,0.8,-2.92,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,210805.00,3637.82265,N,12152.76362,W,1,12,0.8,-2.58,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210806.00,3637.82273,N,12152.76367,W,1,12,0.8,-2.28,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210807.00,3637.82274,N,12152.76334,W,1,12,0.8,-2.06,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,210808.00,3637.82272,N,12152.76322,W,1,12,0.8,-1.98,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210809.00,3637.82272,N,12152.76296,W,1,12,0.8,-2.12,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210810.00,3637.82268,N,12152.76276,W,1,12,0.8,-2.25,M,-33.25,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210811.00,3637.82269,N,12152.76257,W,1,12,0.8,-2.54,M,-33.25,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 976077830
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210812.00,3637.82277,N,12152.76257,W,1,12,0.8,-2.90,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210813.00,3637.82287,N,12152.76273,W,1,12,0.8,-2.83,M,-33.25,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210814.00,3637.82298,N,12152.76273,W,1,12,0.8,-2.79,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,210815.00,3637.82311,N,12152.76267,W,1,12,0.8,-2.83,M,-33.25,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.300000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,210816.00,3637.82320,N,12152.76255,W,1,12,0.8,-2.79,M,-33.25,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210817.00,3637.82335,N,12152.76262,W,1,12,0.8,-2.92,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210818.00,3637.82357,N,12152.76265,W,1,12,0.8,-3.01,M,-33.25,M,,*7D

: AshtechGps::processRecord() - $GPGGA,210819.00,3637.82392,N,12152.76302,W,1,13,0.8,-3.11,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210820.00,3637.82388,N,12152.76283,W,1,13,0.8,-2.73,M,-33.25,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210821.00,3637.82374,N,12152.76254,W,1,13,0.8,-2.24,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,210822.00,3637.82359,N,12152.76208,W,1,13,0.8,-2.24,M,-33.25,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210823.00,3637.82353,N,12152.76188,W,1,13,0.8,-2.80,M,-33.25,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 975255830
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210824.00,3637.82362,N,12152.76174,W,1,13,0.8,-3.39,M,-33.25,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210825.00,3637.82378,N,12152.76190,W,1,13,0.8,-3.60,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,210826.00,3637.82392,N,12152.76188,W,1,13,0.8,-3.80,M,-33.25,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210827.00,3637.82401,N,12152.76199,W,1,13,0.8,-3.60,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210828.00,3637.82413,N,12152.76191,W,1,13,0.8,-3.48,M,-33.25,M,,*7D

: AshtechGps::processRecord() - $GPGGA,210829.00,3637.82423,N,12152.76195,W,1,13,0.8,-3.42,M,-33.25,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210830.00,3637.82434,N,12152.76192,W,1,13,0.8,-3.28,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210831.00,3637.82439,N,12152.76190,W,1,13,0.8,-3.10,M,-33.25,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210832.00,3637.82441,N,12152.76165,W,1,13,0.8,-2.96,M,-33.25,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 474673580
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210833.00,3637.82442,N,12152.76159,W,1,13,0.8,-2.86,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210834.00,3637.82449,N,12152.76146,W,1,13,0.8,-2.94,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210835.00,3637.82448,N,12152.76152,W,1,13,0.8,-2.98,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,210836.00,3637.82454,N,12152.76113,W,1,13,0.8,-3.23,M,-33.25,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210837.00,3637.82451,N,12152.76117,W,1,13,0.8,-3.19,M,-33.25,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210838.00,3637.82454,N,12152.76096,W,1,13,0.8,-3.35,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210839.00,3637.82458,N,12152.76100,W,1,13,0.8,-3.45,M,-33.25,M,,*77

: AshtechGps::processRecord() - $GPGGA,210840.00,3637.82473,N,12152.76096,W,1,13,0.8,-3.67,M,-33.25,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 974091330
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210841.00,3637.82479,N,12152.76113,W,1,13,0.8,-3.54,M,-33.25,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210842.00,3637.82485,N,12152.76115,W,1,13,0.8,-3.17,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,210843.00,3637.82496,N,12152.76110,W,1,13,0.8,-3.15,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210844.00,3637.82502,N,12152.76103,W,1,13,0.8,-2.95,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210845.00,3637.82502,N,12152.76083,W,1,13,0.8,-2.69,M,-33.25,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210846.00,3637.82497,N,12152.76074,W,1,13,0.8,-2.57,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,210847.00,3637.82490,N,12152.76051,W,1,13,0.8,-2.39,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210848.00,3637.82496,N,12152.76039,W,1,13,0.8,-2.87,M,-33.25,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210849.00,3637.82500,N,12152.76029,W,1,13,0.8,-3.20,M,-33.25,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 473509080
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210850.00,3637.82507,N,12152.76037,W,1,13,0.8,-3.51,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210851.00,3637.82527,N,12152.76057,W,1,13,0.8,-3.74,M,-33.25,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210852.00,3637.82547,N,12152.76073,W,1,13,0.8,-3.50,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210853.00,3637.82553,N,12152.76072,W,1,13,0.8,-3.11,M,-33.25,M,,*74

: AshtechGps::processRecord() - $GPGGA,210854.00,3637.82554,N,12152.76041,W,1,13,0.8,-2.76,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210855.00,3637.82541,N,12152.76012,W,1,13,0.8,-2.51,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210856.00,3637.82536,N,12152.75984,W,1,13,0.8,-2.64,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,210857.00,3637.82528,N,12152.75967,W,1,13,0.8,-2.93,M,-33.25,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 972926830
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210858.00,3637.82525,N,12152.75952,W,1,13,0.8,-3.49,M,-33.25,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210859.00,3637.82540,N,12152.75963,W,1,13,0.8,-3.97,M,-33.25,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210900.00,3637.82563,N,12152.75998,W,1,13,0.8,-4.11,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,210901.00,3637.82582,N,12152.76019,W,1,13,0.8,-3.63,M,-33.25,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210902.00,3637.82590,N,12152.76035,W,1,13,0.8,-3.25,M,-33.25,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210903.00,3637.82588,N,12152.76021,W,1,13,0.8,-2.74,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,210904.00,3637.82578,N,12152.76004,W,1,13,0.8,-2.48,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210905.00,3637.82578,N,12152.75986,W,1,13,0.8,-2.43,M,-33.25,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210906.00,3637.82571,N,12152.75972,W,1,13,0.8,-2.35,M,-33.25,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 472344580
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210907.00,3637.82561,N,12152.75946,W,1,13,0.8,-2.42,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,210908.00,3637.82555,N,12152.75918,W,1,13,0.8,-2.68,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210909.00,3637.82552,N,12152.75912,W,1,13,0.8,-3.17,M,-33.25,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: 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:***************************************

: AshtechGps::processRecord() - $GPGGA,210910.00,3637.82568,N,12152.75911,W,1,13,0.8,-3.50,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,210911.00,3637.82584,N,12152.75942,W,1,13,0.8,-3.74,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210912.00,3637.82611,N,12152.75960,W,1,13,0.8,-3.68,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210913.00,3637.82622,N,12152.75985,W,1,13,0.8,-3.31,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210914.00,3637.82629,N,12152.75963,W,1,13,0.8,-2.74,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,210915.00,3637.82609,N,12152.75938,W,1,13,0.8,-2.42,M,-33.25,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210916.00,3637.82610,N,12152.75919,W,1,13,0.8,-2.74,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210917.00,3637.82613,N,12152.75921,W,1,13,0.8,-3.11,M,-33.25,M,,*7E

: AshtechGps::processRecord() - $GPGGA,210918.00,3637.82616,N,12152.75917,W,1,13,0.8,-3.13,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 471522580
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,210919.00,3637.82622,N,12152.75911,W,1,13,0.8,-2.95,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210920.00,3637.82615,N,12152.75903,W,1,13,0.8,-2.50,M,-33.25,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210921.00,3637.82610,N,12152.75875,W,1,13,0.8,-2.50,M,-33.25,M,,*7C

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

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

: AshtechGps::processRecord() - $GPGGA,210922.00,3637.82597,N,12152.75855,W,1,13,0.8,-2.52,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210923.00,3637.82598,N,12152.75838,W,1,13,0.8,-3.14,M,-33.25,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210924.00,3637.82606,N,12152.75851,W,1,13,0.8,-3.73,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,210925.00,3637.82629,N,12152.75883,W,1,13,0.8,-4.07,M,-33.25,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210926.00,3637.82650,N,12152.75906,W,1,13,0.8,-3.90,M,-33.25,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210927.00,3637.82658,N,12152.75917,W,1,13,0.8,-3.27,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210928.00,3637.82659,N,12152.75909,W,1,13,0.8,-2.67,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,210929.00,3637.82638,N,12152.75869,W,1,13,0.8,-2.09,M,-33.25,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210930.00,3637.82617,N,12152.75828,W,1,13,0.8,-2.04,M,-33.25,M,,*72

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 470700580
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210931.00,3637.82608,N,12152.75816,W,1,13,0.8,-2.66,M,-33.25,M,,*74

: AshtechGps::processRecord() - $GPGGA,210932.00,3637.82613,N,12152.75815,W,1,13,0.8,-3.15,M,-33.25,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210933.00,3637.82617,N,12152.75829,W,1,13,0.8,-3.43,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.200000, D:0.000000, U:0.000000, Q:***************************************

: AshtechGps::processRecord() - $GPGGA,210934.00,3637.82626,N,12152.75840,W,1,13,0.8,-3.19,M,-33.25,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,210935.00,3637.82632,N,12152.75844,W,1,13,0.8,-3.07,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,210936.00,3637.82632,N,12152.75842,W,1,13,0.8,-2.96,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

:  CameraDestructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000422A0.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1Cmd ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:000213A0.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298.
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
