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() - externalCommsServ: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
er
Supervisor::createTask() - navigationServer
Supervisor::createT: WorkSite::WorkSite -- Finished loading parameters
as: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
k(): 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
 - l: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
aye: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
red: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
Cont: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
rolS: WorkSite server: 0x2300c
erver
Supervisor::createTask() - dynamicContro: New Navigation component constructor
lServer
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciS: Preparing to fork

erver
: SerialDevice: done...

: I'm the child...forking

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
ervisor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
::cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
eate: SerialDevice: done...

Task: SerialDevice: done...

() - dvlServer
Supervisor::createTask() - fanServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
Superv: SerialDevice: done...

isor::createTask() - dropWeightServer
: SerialDevice: done...

Supervisor::createTask() - son: SerialDevice: done...

ard: SerialDevice: done...

yn: Crossbow.cc: In getSerialNumber()
eServer
: Gps: initializing

: SerialDevice: done...

: SerialDevice: done...

Supervisor::createTas: SerialDevice: done...

k() - cameraServer
: SerialDevice: done...

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

: SerialDevice: done...

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

: SerialDevice: done...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6380

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

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

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

: SerialDevice: done...

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

: EchoSounder -- configuration:
	Maximum Range  = 10 m
	StartGain      = 0 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

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 637.82738,N,12152.72496,W,1,13,0.8,-3.53,M,-33.25,M,,*73

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: SerialDevice: done...

: 3 Modules found
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,212009.00,3637.82746,N,12152.72505,W,1,13,0.8,-3.84,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,212010.00,3637.82759,N,12152.72514,W,1,13,0.8,-3.80,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,212011.00,3637.82763,N,12152.72510,W,1,13,0.8,-3.58,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,212012.00,3637.82764,N,12152.72493,W,1,13,0.8,-3.48,M,-33.25,M,,*7E

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,212013.00,3637.82757,N,12152.72487,W,1,13,0.8,-3.51,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,212014.00,3637.82759,N,12152.72474,W,1,13,0.8,-3.37,M,-33.25,M,,*77

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.139060
: Parosci.cc -- Parosci initial temp period = 5.842452
: AshtechGps::processRecord() - $GPGGA,212015.00,3637.82757,N,12152.72473,W,1,13,0.8,-3.69,M,-33.25,M,,*74

: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106471500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212016.00,3637.82775,N,12152.72481,W,1,13,0.8,-3.84,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,212017.00,3637.82781,N,12152.72497,W,1,13,0.8,-3.74,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,212018.00,3637.82791,N,12152.72489,W,1,13,0.8,-3.30,M,-33.25,M,,*7A

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,212019.00,3637.82785,N,12152.72470,W,1,13,0.8,-2.78,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,212020.00,3637.82765,N,12152.72435,W,1,13,0.8,-2.32,M,-33.25,M,,*7E

: AshtechGps::processRecord() - $GPGGA,212021.00,3637.82740,N,12152.72386,W,1,13,0.8,-2.27,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,212022.00,3637.82714,N,12152.72369,W,1,13,0.8,-2.97,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,212023.00,3637.82727,N,12152.72368,W,1,13,0.8,-3.86,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,212024.00,3637.82738,N,12152.72391,W,1,13,0.8,-4.29,M,-33.25,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605889250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212025.00,3637.82767,N,12152.72417,W,1,13,0.8,-4.32,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,212026.00,3637.82781,N,12152.72421,W,1,13,0.8,-3.82,M,-33.25,M,,*7D

: AshtechGps::processRecord() - $GPGGA,212027.00,3637.82781,N,12152.72404,W,1,13,0.8,-3.37,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,212028.00,3637.82779,N,12152.72387,W,1,13,0.8,-3.26,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,212029.00,3637.82774,N,12152.72386,W,1,13,0.8,-3.29,M,-33.25,M,,*73

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

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

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

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,212030.00,3637.82778,N,12152.72389,W,1,13,0.8,-3.29,M,-33.25,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,212031.00,3637.82774,N,12152.72370,W,1,13,0.8,-3.02,M,-33.25,M,,*7A

: 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,212032.00,3637.82757,N,12152.72347,W,1,13,0.8,-2.86,M,-33.25,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105307000
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212033.00,3637.82756,N,12152.72344,W,1,13,0.8,-3.18,M,-33.25,M,,*74

: 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,212034.00,3637.82762,N,12152.72350,W,1,13,0.8,-3.52,M,-33.25,M,,*7F

: 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,212035.00,3637.82766,N,12152.72353,W,1,13,0.8,-3.46,M,-33.25,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,212036.00,3637.82770,N,12152.72349,W,1,13,0.8,-3.39,M,-33.25,M,,*7B

: 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,212037.00,3637.82776,N,12152.72334,W,1,13,0.8,-3.18,M,-33.25,M,,*75

: 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,212038.00,3637.82777,N,12152.72322,W,1,13,0.8,-3.17,M,-33.25,M,,*73

: 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=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212039.00,3637.82769,N,12152.72315,W,1,13,0.8,-3.31,M,-33.25,M,,*7D

: AshtechGps::processRecord() - $GPGGA,212040.00,3637.82762,N,12152.72319,W,1,13,0.8,-3.43,M,-33.25,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,212041.00,3637.82764,N,12152.72325,W,1,13,0.8,-3.64,M,-33.25,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604724750
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212042.00,3637.82774,N,12152.72342,W,1,13,0.8,-3.74,M,-33.25,M,,*7E

: AshtechGps::processRecord() - $GPGGA,212043.00,3637.82782,N,12152.72351,W,1,13,0.8,-3.68,M,-33.25,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,212044.00,3637.82791,N,12152.72352,W,1,13,0.8,-3.52,M,-33.25,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,212045.00,3637.82795,N,12152.72370,W,1,13,0.8,-3.37,M,-33.25,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,212046.00,3637.82800,N,12152.72386,W,1,13,0.8,-3.15,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,212047.00,3637.82793,N,12152.72399,W,1,13,0.8,-2.82,M,-33.25,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,212048.00,3637.82784,N,12152.72408,W,1,13,0.8,-2.71,M,-33.25,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,212049.00,3637.82772,N,12152.72432,W,1,13,0.8,-2.96,M,-33.25,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 104142500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212050.00,3637.82784,N,12152.72450,W,1,13,0.8,-3.31,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,212051.00,3637.82791,N,12152.72479,W,1,13,0.8,-3.39,M,-33.25,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,212052.00,3637.82816,N,12152.72522,W,1,13,0.8,-3.71,M,-33.25,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,212053.00,3637.82851,N,12152.72586,W,1,13,0.8,-4.14,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,212054.00,3637.82891,N,12152.72647,W,1,13,0.8,-4.05,M,-33.25,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,212055.00,3637.82929,N,12152.72708,W,1,13,0.8,-3.88,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,212056.00,3637.82966,N,12152.72768,W,1,13,0.8,-3.56,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,212057.00,3637.83001,N,12152.72802,W,1,13,0.8,-2.72,M,-33.25,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,212058.00,3637.83030,N,12152.72806,W,1,13,0.8,-2.32,M,-33.25,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603560250
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212059.00,3637.83065,N,12152.72821,W,1,13,0.8,-2.81,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,212100.00,3637.83110,N,12152.72830,W,1,13,0.8,-3.32,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,212101.00,3637.83164,N,12152.72874,W,1,13,0.8,-3.75,M,-33.25,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,212102.00,3637.83206,N,12152.72852,W,1,13,0.8,-2.95,M,-33.25,M,,*7E

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

: AshtechGps::processRecord() - $GPGGA,212103.00,3637.83041,N,12152.72767,W,1,11,1.2,4.82,M,-33.25,M,,*53

: AshtechGps::processRecord() - $GPGGA,212104.00,3637.83481,N,12152.73095,W,1,12,1.0,-8.81,M,-33.25,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,212105.00,3637.83487,N,12152.72964,W,1,13,0.8,-5.49,M,-33.25,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,212106.00,3637.83552,N,12152.72951,W,1,13,0.8,-5.76,M,-33.25,M,,*74

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102978000
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212107.00,3637.83615,N,12152.72979,W,1,13,0.8,-5.10,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,212108.00,3637.83667,N,12152.72987,W,1,13,0.8,-4.59,M,-33.25,M,,*78

: LayeredControl::execute() -- (t = 38.997329) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 38.997329) Behavior descend:-1 has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,212109.00,3637.83754,N,12152.72965,W,1,13,0.8,-4.68,M,-33.25,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,212110.00,3637.83816,N,12152.72943,W,1,13,0.8,-4.62,M,-33.25,M,,*79

: AshtechGps::processRecord() - $GPGGA,212111.00,3637.83889,N,12152.72932,W,1,13,0.8,-5.06,M,-33.25,M,,*7B

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

: AshtechGps::processRecord() - $GPGGA,212112.00,3637.83943,N,12152.72926,W,1,13,0.8,-4.97,M,-33.25,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,212113.00,3637.84004,N,12152.72934,W,1,13,0.8,-5.26,M,-33.25,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,212114.00,3637.84148,N,12152.72982,W,1,13,0.8,-9.49,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,212115.00,3637.83978,N,12152.72726,W,1,06,1.7,-0.11,M,-33.25,M,,*72

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602395750
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212116.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212117.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212118.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,212119.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,212120.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212121.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212122.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212123.00,,,,,0,00,,,M,,M,,*49

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 101813500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212124.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212125.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212126.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212127.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212128.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212129.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,212130.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212131.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212132.00,,,,,0,00,,,M,,M,,*49

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601231250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212133.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212134.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212135.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212136.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212137.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212138.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212139.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,212140.00,,,,,0,00,,,M,,M,,*4C

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 100649000
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212141.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212142.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212143.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212144.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212145.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212146.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212147.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212148.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,212149.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600066750
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212150.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212151.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212152.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212153.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212154.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212155.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212156.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212157.00,,,,,0,00,,,M,,M,,*4A

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 99484500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212158.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,212159.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212200.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212201.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212202.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212203.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212204.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212205.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212206.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 598902250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212207.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212208.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,212209.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,212210.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212211.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212212.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212213.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212214.00,,,,,0,00,,,M,,M,,*4E

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98320000
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212215.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212216.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212217.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212218.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,212219.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,212220.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212221.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212222.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212223.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597737750
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212224.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212225.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212226.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212227.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212228.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,212229.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,212230.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212231.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 97155500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212232.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212233.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212234.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212235.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212236.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212237.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212238.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212239.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,212240.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 596573250
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212241.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212242.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212243.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212244.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212245.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212246.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212247.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212248.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105990315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212249.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,212250.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212251.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212252.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212253.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212254.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212255.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212256.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212257.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605408065
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212258.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,212259.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212300.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212301.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212302.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212303.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212304.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212305.00,,,,,0,00,,,M,,M,,*4F

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 104825815
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212306.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212307.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212308.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,212309.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212310.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212311.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212312.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212313.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212314.00,,,,,0,00,,,M,,M,,*4F

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604243565
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212315.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212316.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212317.00,,,,,0,00,,,M,,M,,*4C

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

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

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212318.00,,,,,0,00,,,M,,M,,*43

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

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

: AshtechGps::processRecord() - $GPGGA,212319.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,212320.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212321.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212322.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212323.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212324.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212325.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212326.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603421565
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212327.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212328.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,212329.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212330.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,212331.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212332.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212333.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212334.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212335.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212336.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212337.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212338.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602599565
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212339.00,,,,,0,00,,,M,,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,212340.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212341.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212342.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212343.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212344.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212345.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212346.00,,,,,0,00,,,M,,M,,*48

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102017315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212347.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212348.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212349.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,212350.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212351.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212352.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212353.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212354.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212355.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601435065
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212356.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212357.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212358.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212359.00,,,,,0,00,,,M,,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,212400.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212401.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212402.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212403.00,,,,,0,00,,,M,,M,,*4E

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 100852815
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212404.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212405.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212406.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212407.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,212408.00,,,,,0,00,,,M,,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,212409.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212410.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,212411.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212412.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600270565
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212413.00,,,,,0,00,,,M,,M,,*4F

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

: AshtechGps::processRecord() - $GPGGA,212414.00,,,,,0,00,,,M,,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,212415.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,212416.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212417.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,212418.00,,,,,0,00,,,M,,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,212419.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212420.00,,,,,0,00,,,M,,M,,*4F

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 99688315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212421.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,212422.00,,,,,0,00,,,M,,M,,*4D

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

: AshtechGps::processRecord() - $GPGGA,212423.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212424.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on altitude 9.966306 < 10.000000 at time 234.993902

: LayeredControl::execute() -- (t = 234.993902) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 234.993902) Behavior setpoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212425.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212426.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212427.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212428.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212429.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599106065
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212430.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212431.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212432.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212433.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212434.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212435.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212436.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212437.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98523815
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212438.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212439.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212440.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212441.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212442.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212443.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212444.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212445.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212446.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597941565
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212447.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212448.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212449.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212450.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212451.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212452.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212453.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212454.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 97359315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212455.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212456.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212457.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212458.00,,,,,0,00,,,M,,M,,*40

: 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,212459.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212500.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212501.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212502.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212503.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212504.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212505.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212506.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 96537315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212507.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212508.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212509.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212510.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212511.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212512.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212513.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212514.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212515.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605954380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212516.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212517.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212518.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212519.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212520.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212521.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212522.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212523.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105372130
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212524.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212525.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212526.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212527.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212528.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212529.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212530.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212531.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212532.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604789880
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212533.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212534.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212535.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212536.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212537.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212538.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212539.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212540.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 104207630
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212541.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212542.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212543.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212544.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212545.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212546.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212547.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212548.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212549.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603625380
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212550.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212551.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212552.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212553.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212554.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212555.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212556.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212557.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103043130
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212558.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212559.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212600.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212601.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212602.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212603.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212604.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 334.997051) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 334.997051) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,212605.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212606.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602460880
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=50.34
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212607.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212608.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212609.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212610.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212611.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212612.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212613.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212614.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 101878630
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212615.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212616.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.44
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212617.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.45
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212618.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212619.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212620.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212621.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212622.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212623.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601296380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212624.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.84
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212625.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212626.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212627.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.100000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=51.14
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212628.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.40
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212629.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212630.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.58
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212631.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212632.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212633.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212634.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212635.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600474380
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=51.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212636.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212637.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.58
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212638.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212639.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,212640.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=51.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212641.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212642.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.38
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212643.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212644.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.45
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212645.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212646.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212647.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599652380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212648.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212649.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212650.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212651.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=52.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212652.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212653.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.952899 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.952899 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212654.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.952899 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.903144 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.903144 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.903144 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.853187 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212655.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.853187 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.853187 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.864894 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.864894 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.864894 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212656.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.839906 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.839906 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.839906 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.813285 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.813285 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,212657.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.813285 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.787323 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.787323 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.787323 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.788325 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212658.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.788325 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.788325 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.789018 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.789018 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.789018 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212659.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.763035 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.763035 under allowable altitude 2.000000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 598830380
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.763035 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.737454 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.737454 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212700.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.737454 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.738339 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.738339 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.738339 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762370 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212701.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.762370 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.762370 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.736247 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.736247 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.736247 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212702.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.733975 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.733975 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.733975 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.34
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.759424 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.759424 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212703.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.759424 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.757718 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.757718 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.757718 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.703707 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,212704.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.703707 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.703707 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.726734 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.726734 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.726734 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212705.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.724706 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.724706 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.37
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.724706 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.722292 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.722292 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212706.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.722292 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.719995 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.719995 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.719995 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.58
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.717950 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212707.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.717950 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.717950 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.686698 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.686698 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.686698 under allowable altitude 2.000000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98248130
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212708.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.655317 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.655317 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.655317 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.654150 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.654150 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212709.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.654150 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.653407 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.653407 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.653407 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652748 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212710.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.652748 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652748 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,212711.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212712.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.652340 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598088 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212713.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.598088 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598088 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598388 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598388 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.598388 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212714.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.599091 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.599091 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.599091 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.572267 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.572267 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212715.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.572267 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.599408 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.599408 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.599408 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.572336 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212716.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.572336 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.572336 under allowable altitude 2.000000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597665880
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.599191 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.599191 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.599191 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212717.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,212718.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.598988 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.646098 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212719.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.646098 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.646098 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.621184 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.621184 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.621184 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212720.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.644693 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.644693 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.644693 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.671889 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.671889 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212721.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.671889 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.682379 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.682379 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.682379 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.682379 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212722.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.682379 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.682379 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.763109 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.763109 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.763109 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212723.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.762736 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762736 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762736 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.762504 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762504 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212724.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.762504 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762504 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762504 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.762504 under allowable altitude 2.000000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 97083630
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.837354 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,212725.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.837354 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.837354 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.864183 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.864183 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.864183 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212726.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.832753 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.832753 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.832753 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.888195 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.888195 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212727.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.888195 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.879261 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.879261 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.879261 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.931913 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212728.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.931913 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.931913 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.985074 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.985074 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.985074 under allowable altitude 2.000000. Stopping!
: AshtechGps::processRecord() - $GPGGA,212729.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.984956 under allowable altitude 2.000000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=52.46
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.984956 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- Measured altitude 1.984956 under allowable altitude 2.000000. Stopping!
: DepthEnvelope -- altitude 2.008468 over abort altitude 2.000000, starting prop!
: AshtechGps::processRecord() - $GPGGA,212730.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212731.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.42
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212732.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212733.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606500695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212734.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212735.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212736.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212737.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212738.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212739.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212740.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212741.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105918445
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212742.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212743.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,212744.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 435.000201) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =          435.00.
: LayeredControl::execute() -- (t = 435.000201) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 435.000201) Behavior setpoint:-1 has changed to state Active

: CameraDriver::readData - starting a 333 photo sequence.
: LayeredControl _resolvedCommand - vertMode=2 vert=52.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212745.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212746.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212747.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212748.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212749.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212750.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605336195
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212751.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212752.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212753.00,,,,,0,00,,,M,,M,,*48

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

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212754.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=52.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212755.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212756.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212757.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212758.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.46
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212759.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212800.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212801.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212802.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604514195
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=53.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212803.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212804.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212805.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212806.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212807.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212808.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212809.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212810.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103931945
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212811.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212812.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212813.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212814.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212815.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212816.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212817.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212818.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212819.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603349695
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=52.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212820.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212821.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212822.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.72
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212823.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212824.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212825.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212826.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212827.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102767445
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212828.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212829.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212830.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212831.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212832.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212833.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212834.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.95
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212835.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212836.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.06
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602185195
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212837.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212838.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212839.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212840.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.90
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212841.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212842.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212843.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=52.90
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212844.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 101602945
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212845.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212846.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212847.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212848.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212849.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212850.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212851.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212852.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212853.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601020695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212854.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212855.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.11
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212856.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212857.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212858.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212859.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212900.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.21
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212901.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 100438445
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212902.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212903.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212904.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.14
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212905.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212906.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212907.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.10
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212908.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212909.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212910.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599856195
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212911.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212912.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212913.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212914.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=53.38
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212915.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.38
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212916.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.32
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212917.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212918.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212919.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212920.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212921.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212922.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599034195
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=53.20
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212923.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.32
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212924.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212925.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212926.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212927.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212928.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212929.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212930.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98451945
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212931.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212932.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212933.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212934.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212935.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212936.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212937.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212938.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212939.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597869695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212940.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212941.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212942.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212943.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=53.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212944.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212945.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212946.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212947.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.52
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212948.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212949.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212950.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.70
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212951.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597047695
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=53.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212952.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,212953.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212954.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,212955.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,212956.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212957.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212958.00,,,,,0,00,,,M,,M,,*4D

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=53.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,212959.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213000.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.57
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213001.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

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

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213002.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,213003.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213004.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213005.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213006.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213007.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213008.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213009.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213010.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605745510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213011.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213012.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213013.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213014.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=53.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213015.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.85
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213016.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213017.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213018.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213019.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213020.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213021.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213022.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604923510
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=53.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213023.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213024.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213025.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213026.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=53.72
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213027.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213028.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213029.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213030.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213031.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.93
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213032.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213033.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213034.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604101510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213035.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213036.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213037.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213038.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213039.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213040.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213041.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213042.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103519260
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213043.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213044.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213045.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213046.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.93
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213047.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213048.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213049.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213050.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213051.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602937010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213052.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.87
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213053.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213054.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

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

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213055.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,213056.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213057.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.11
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213058.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213059.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213100.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213101.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.87
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213102.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213103.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602115010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213104.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213105.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213106.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213107.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213108.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213109.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213110.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213111.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 101532760
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213112.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213113.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213114.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213115.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213116.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213117.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213118.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213119.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213120.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600950510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213121.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213122.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213123.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213124.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.52
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213125.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213126.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213127.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213128.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 100368260
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213129.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213130.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213131.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=53.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213132.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213133.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213134.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213135.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213136.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213137.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599786010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213138.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.57
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213139.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.40
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213140.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213141.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213142.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213143.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213144.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213145.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.10
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 99203760
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213146.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213147.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213148.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213149.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.500000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=54.52
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213150.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213151.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213152.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.57
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213153.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=54.45
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213154.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213155.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213156.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.400000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=54.13
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213157.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213158.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213159.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213200.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213201.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213202.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213203.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213204.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 97902260
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213205.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213206.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213207.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213208.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213209.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.40
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213210.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213211.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213212.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213213.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.24
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597320010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213214.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.42
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213215.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213216.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213217.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.900000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=54.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213218.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213219.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213220.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.70
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.300000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,213221.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.40
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213222.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213223.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.21
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213224.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213225.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.36
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213226.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213227.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213228.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106257575
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213229.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213230.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213231.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213232.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213233.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213234.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213235.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.44
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213236.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213237.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.46
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605675325
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213238.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213239.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213240.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213241.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213242.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213243.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213244.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213245.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105093075
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213246.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213247.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213248.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213249.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213250.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213251.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213252.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213253.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213254.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604510825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213255.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213256.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213257.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213258.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=54.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213259.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213300.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213301.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213302.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213303.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.70
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213304.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213305.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213306.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603688825
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=54.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213307.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213308.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213309.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213310.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.500000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=54.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213311.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213312.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213313.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.06
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213314.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213315.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213316.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213317.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213318.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602866825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213319.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213320.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213321.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213322.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,213323.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213324.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213325.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213326.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213327.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213328.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213329.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213330.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602044825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213331.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213332.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213333.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213334.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=55.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213335.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213336.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213337.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213338.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213339.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213340.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213341.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213342.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601222825
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=54.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213343.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213344.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213345.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213346.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,213347.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213348.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=54.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213349.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213350.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213351.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.20
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213352.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213353.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213354.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600400825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213355.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.06
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213356.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213357.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213358.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.500000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=55.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213359.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.06
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213400.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213401.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.13
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213402.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213403.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213404.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213405.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213406.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599578825
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=55.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213407.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213408.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213409.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.14
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213410.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=55.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213411.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213412.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213413.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213414.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213415.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213416.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.29
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213417.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.44
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213418.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 598756825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213419.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213420.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.44
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213421.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213422.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=55.32
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213423.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213424.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.11
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213425.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213426.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.13
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213427.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.37
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213428.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213429.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213430.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597934825
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=55.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213431.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213432.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213433.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.52
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213434.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.400000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=55.42
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213435.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213436.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.29
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213437.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213438.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213439.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213440.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213441.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.41
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213442.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597112825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213443.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213444.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213445.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213446.00,,,,,0,00,,,M,,M,,*4E

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

: AshtechGps::processRecord() - $GPGGA,213447.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213448.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213449.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213450.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.37
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213451.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.20
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213452.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213453.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213454.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.31
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606290140
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213455.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213456.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213457.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

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

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213458.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.800000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=55.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213459.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213500.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213501.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213502.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213503.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213504.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.37
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213505.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213506.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605468140
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=55.41
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213507.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213508.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213509.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.70
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213510.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213511.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213512.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213513.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213514.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 104885890
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213515.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213516.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213517.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213518.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213519.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213520.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213521.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213522.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213523.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604303640
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=55.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213524.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213525.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213526.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.93
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213527.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213528.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213529.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213530.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213531.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103721390
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213532.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213533.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213534.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213535.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213536.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213537.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213538.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213539.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213540.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603139140
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=55.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213541.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213542.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213543.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.87
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213544.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213545.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213546.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213547.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213548.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102556890
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213549.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213550.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213551.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213552.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213553.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213554.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213555.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213556.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213557.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601974640
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213558.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213559.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213600.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213601.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=55.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213602.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,213603.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213604.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=55.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: LayeredControl::execute() -- (t = 935.195935) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 935.195935) Behavior ascend:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,213605.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213606.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213607.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213608.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213609.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601152640
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213610.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213611.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213612.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213613.00,,,,,0,00,,,M,,M,,*4C

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

: AshtechGps::processRecord() - $GPGGA,213614.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213615.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213616.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213617.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213618.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213619.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213620.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213621.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600330640
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213622.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213623.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213624.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213625.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213626.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213627.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213628.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213629.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 99748390
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213630.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213631.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213632.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213633.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213634.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213635.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213636.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213637.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213638.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599166140
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213639.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213640.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213641.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213642.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213643.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213644.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213645.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213646.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98583890
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213647.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213648.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213649.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213650.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213651.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213652.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213653.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213654.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213655.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 598001640
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213656.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213657.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213658.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213659.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213700.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213701.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213702.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213703.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 97419390
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213704.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213705.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213706.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213707.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213708.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213709.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213710.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213711.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213712.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 596837140
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213713.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213714.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213715.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213716.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213717.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213718.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213719.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213720.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106254205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213721.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213722.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213723.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213724.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213725.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213726.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213727.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213728.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213729.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605671955
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213730.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213731.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213732.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213733.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213734.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213735.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213736.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213737.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105089705
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213738.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213739.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213740.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213741.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213742.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213743.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213744.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213745.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213746.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604507455
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213747.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213748.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213749.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213750.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213751.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213752.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213753.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213754.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103925205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213755.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213756.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213757.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213758.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213759.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213800.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213801.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213802.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213803.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603342955
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213804.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213805.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213806.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213807.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213808.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213809.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213810.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213811.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102760705
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213812.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213813.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213814.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213815.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213816.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213817.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213818.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213819.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213820.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602178455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213821.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213822.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213823.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213824.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213825.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213826.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213827.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213828.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213829.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213830.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213831.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213832.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601356455
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213833.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213834.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213835.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213836.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213837.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213838.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213839.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213840.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 100774205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213841.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213842.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,213843.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 1093.795070) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1093.795070) Behavior getgps:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213844.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213845.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213846.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213847.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213848.00,,,,,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,213849.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600191955
: 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,213850.00,,,,,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,213851.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213852.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213853.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213854.00,3638.56773,N,12152.74123,W,1,09,1.5,-0.64,M,-33.25,M,,*77

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: AshtechGps::processRecord() - $GPGGA,213855.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213856.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213857.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 99609705
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213858.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213859.00,,,,,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,213900.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213901.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213902.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213903.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213904.00,,,,,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,213905.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213906.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 599027455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213907.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213908.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213909.00,,,,,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,213910.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213911.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213912.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213913.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213914.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98445205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213915.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213916.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213917.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213918.00,,,,,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,213919.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213920.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213921.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213922.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213923.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597862955
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213924.00,3638.57546,N,12152.74320,W,1,10,1.4,0.94,M,-33.25,M,,*5E

: 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,213925.00,3638.57590,N,12152.74301,W,1,10,1.4,0.17,M,-33.25,M,,*5C

: 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,213926.00,3638.57598,N,12152.74292,W,1,10,1.4,0.25,M,-33.25,M,,*5D

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,213927.00,3638.57612,N,12152.74289,W,1,10,1.4,0.20,M,-33.25,M,,*52

: 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,213928.00,3638.57610,N,12152.74280,W,1,10,1.4,0.40,M,-33.25,M,,*50

: 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,213929.00,3638.57628,N,12152.74275,W,1,10,1.4,-0.43,M,-33.25,M,,*7E

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,213930.00,3638.57638,N,12152.74301,W,1,10,1.4,-1.21,M,-33.25,M,,*70

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213931.00,3638.57664,N,12152.74329,W,1,10,1.4,-1.68,M,-33.25,M,,*7F

: 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,213932.00,3638.57671,N,12152.74355,W,1,10,1.4,-1.62,M,-33.25,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1142.791713) 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 = 1142.991700) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1142.991700) Behavior missionTimer:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,213933.00,3638.57695,N,12152.74373,W,1,10,1.4,-1.83,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,213934.00,3638.57715,N,12152.74405,W,1,10,1.4,-1.92,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,213935.00,3638.57728,N,12152.74428,W,1,10,1.4,-1.46,M,-33.25,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597040955
: 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,213936.00,3638.57741,N,12152.74438,W,1,10,1.4,-0.93,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,213937.00,3638.57745,N,12152.74428,W,1,10,1.4,-0.49,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,213938.00,3638.57745,N,12152.74413,W,1,11,1.3,-0.22,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,213939.00,3638.57736,N,12152.74417,W,1,11,1.3,-0.25,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,213940.00,3638.57734,N,12152.74406,W,1,11,1.3,-0.43,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,213941.00,3638.57717,N,12152.74386,W,1,11,1.3,-0.45,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213942.00,3638.57716,N,12152.74372,W,1,11,1.3,-1.04,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,213943.00,3638.57735,N,12152.74387,W,1,11,1.3,-1.81,M,-33.25,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106458020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,213944.00,3638.57756,N,12152.74420,W,1,11,1.3,-2.25,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,213945.00,3638.57779,N,12152.74462,W,1,11,1.3,-2.18,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,213946.00,3638.57795,N,12152.74511,W,1,11,1.3,-2.07,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,213947.00,3638.57815,N,12152.74535,W,1,11,1.3,-1.46,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,213948.00,3638.57808,N,12152.74527,W,1,11,1.3,-0.30,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,213949.00,3638.57795,N,12152.74494,W,1,11,1.3,0.45,M,-33.25,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,213950.00,3638.57779,N,12152.74460,W,1,11,1.3,0.27,M,-33.25,M,,*5E

: AshtechGps::processRecord() - $GPGGA,213951.00,3638.57766,N,12152.74437,W,1,11,1.3,-0.16,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,213952.00,3638.57778,N,12152.74428,W,1,11,1.3,-0.77,M,-33.25,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605875770
: 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,213953.00,3638.57840,N,12152.74494,W,1,12,0.8,-3.52,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,213954.00,3638.57860,N,12152.74515,W,1,12,0.8,-3.72,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,213955.00,3638.57861,N,12152.74524,W,1,12,0.8,-3.38,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:-3.800000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,213956.00,3638.57865,N,12152.74528,W,1,12,0.8,-3.46,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,213957.00,3638.57871,N,12152.74536,W,1,12,0.8,-3.50,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,213958.00,3638.57871,N,12152.74557,W,1,12,0.8,-3.45,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,213959.00,3638.57885,N,12152.74563,W,1,12,0.8,-3.24,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,214000.00,3638.57880,N,12152.74547,W,1,12,0.8,-3.13,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,214001.00,3638.57883,N,12152.74537,W,1,12,0.8,-3.35,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,214002.00,3638.57892,N,12152.74558,W,1,12,0.8,-3.74,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,214003.00,3638.57916,N,12152.74593,W,1,12,0.8,-3.85,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,214004.00,3638.57919,N,12152.74599,W,1,12,0.8,-2.98,M,-33.25,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605053770
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214005.00,3638.57908,N,12152.74562,W,1,12,0.8,-2.29,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,214006.00,3638.57894,N,12152.74531,W,1,12,0.8,-2.35,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,214007.00,3638.57874,N,12152.74510,W,1,12,0.8,-2.37,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,214008.00,3638.57872,N,12152.74502,W,1,12,0.8,-3.03,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,214009.00,3638.57867,N,12152.74514,W,1,12,0.8,-3.70,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,214010.00,3638.57887,N,12152.74545,W,1,12,0.8,-4.35,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,214011.00,3638.57905,N,12152.74585,W,1,12,0.8,-4.40,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,214012.00,3638.57920,N,12152.74610,W,1,12,0.8,-3.93,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 104471520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214013.00,3638.57939,N,12152.74616,W,1,12,0.8,-3.33,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,214014.00,3638.57929,N,12152.74606,W,1,12,0.8,-2.82,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214015.00,3638.57928,N,12152.74598,W,1,12,0.8,-2.77,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,214016.00,3638.57923,N,12152.74587,W,1,12,0.8,-2.80,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214017.00,3638.57923,N,12152.74578,W,1,12,0.8,-2.99,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,214018.00,3638.57924,N,12152.74572,W,1,12,0.8,-2.83,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214019.00,3638.57916,N,12152.74561,W,1,12,0.8,-2.77,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,214020.00,3638.57916,N,12152.74554,W,1,12,0.8,-2.92,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,214021.00,3638.57912,N,12152.74558,W,1,12,0.8,-3.17,M,-33.25,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 603889270
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214022.00,3638.57924,N,12152.74574,W,1,12,0.8,-3.27,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214023.00,3638.57934,N,12152.74593,W,1,12,0.8,-3.31,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,214024.00,3638.57940,N,12152.74592,W,1,12,0.8,-3.00,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,214025.00,3638.57937,N,12152.74582,W,1,12,0.8,-3.01,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,214026.00,3638.57935,N,12152.74596,W,1,12,0.8,-3.36,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,214027.00,3638.57947,N,12152.74613,W,1,12,0.8,-3.49,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,214028.00,3638.57949,N,12152.74620,W,1,12,0.8,-3.15,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,214029.00,3638.57952,N,12152.74616,W,1,12,0.8,-3.07,M,-33.25,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103307020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214030.00,3638.57945,N,12152.74606,W,1,12,0.8,-2.92,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,214031.00,3638.57947,N,12152.74611,W,1,12,0.8,-3.22,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,214032.00,3638.57956,N,12152.74624,W,1,12,0.8,-3.41,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,214033.00,3638.57973,N,12152.74630,W,1,12,0.8,-3.16,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,214034.00,3638.57965,N,12152.74629,W,1,12,0.8,-2.91,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,214035.00,3638.57960,N,12152.74608,W,1,12,0.8,-2.48,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214036.00,3638.57948,N,12152.74588,W,1,12,0.8,-2.54,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,214037.00,3638.57938,N,12152.74577,W,1,12,0.8,-2.72,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,214038.00,3638.57937,N,12152.74571,W,1,12,0.8,-3.11,M,-33.25,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602724770
: 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,214039.00,3638.57934,N,12152.74577,W,1,12,0.8,-3.57,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,214040.00,3638.57950,N,12152.74598,W,1,12,0.8,-3.88,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214041.00,3638.57966,N,12152.74625,W,1,12,0.8,-4.08,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,214042.00,3638.57972,N,12152.74646,W,1,12,0.8,-3.77,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,214043.00,3638.57979,N,12152.74662,W,1,12,0.8,-3.56,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,214044.00,3638.57981,N,12152.74676,W,1,12,0.8,-3.29,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214045.00,3638.57987,N,12152.74677,W,1,12,0.8,-2.83,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,214046.00,3638.57985,N,12152.74658,W,1,12,0.8,-2.29,M,-33.25,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102142520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214047.00,3638.57971,N,12152.74620,W,1,12,0.8,-2.06,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,214048.00,3638.57960,N,12152.74582,W,1,12,0.8,-2.00,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,214049.00,3638.57940,N,12152.74555,W,1,12,0.8,-2.34,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,214050.00,3638.57935,N,12152.74553,W,1,12,0.8,-2.97,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,214051.00,3638.57932,N,12152.74572,W,1,12,0.8,-3.59,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,214052.00,3638.57931,N,12152.74594,W,1,12,0.8,-3.84,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,214053.00,3638.57948,N,12152.74616,W,1,12,0.8,-3.97,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214054.00,3638.57954,N,12152.74635,W,1,12,0.8,-3.82,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,214055.00,3638.57974,N,12152.74659,W,1,12,0.8,-3.66,M,-33.25,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601560270
: 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,214056.00,3638.57982,N,12152.74669,W,1,12,0.8,-3.68,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,214057.00,3638.57986,N,12152.74659,W,1,12,0.8,-3.11,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,214058.00,3638.57974,N,12152.74649,W,1,12,0.8,-2.51,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,214059.00,3638.57958,N,12152.74626,W,1,12,0.8,-2.22,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,214100.00,3638.57937,N,12152.74577,W,1,12,0.8,-2.21,M,-33.25,M,,*77

: AshtechGps::processRecord() - $GPGGA,214101.00,3638.57923,N,12152.74549,W,1,12,0.8,-2.81,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,214102.00,3638.57928,N,12152.74555,W,1,12,0.8,-3.53,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,214103.00,3638.57941,N,12152.74578,W,1,12,0.8,-3.94,M,-33.25,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 100978020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214104.00,3638.57959,N,12152.74602,W,1,12,0.8,-3.83,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,214105.00,3638.57958,N,12152.74613,W,1,12,0.8,-3.49,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,214106.00,3638.57952,N,12152.74602,W,1,12,0.8,-2.89,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,214107.00,3638.57931,N,12152.74569,W,1,12,0.8,-2.66,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,214108.00,3638.57920,N,12152.74545,W,1,12,0.8,-2.78,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,214109.00,3638.57917,N,12152.74544,W,1,12,0.8,-3.42,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,214110.00,3638.57924,N,12152.74558,W,1,12,0.8,-3.85,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214111.00,3638.57943,N,12152.74576,W,1,12,0.8,-3.92,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,214112.00,3638.57943,N,12152.74577,W,1,12,0.8,-3.65,M,-33.25,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600395770
: 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,214113.00,3638.57954,N,12152.74573,W,1,12,0.8,-3.34,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,214114.00,3638.57942,N,12152.74579,W,1,12,0.8,-3.30,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,214115.00,3638.57950,N,12152.74588,W,1,12,0.8,-3.20,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,214116.00,3638.57947,N,12152.74575,W,1,12,0.8,-2.73,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,214117.00,3638.57937,N,12152.74540,W,1,12,0.8,-2.22,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214118.00,3638.57918,N,12152.74505,W,1,12,0.8,-2.27,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214119.00,3638.57896,N,12152.74486,W,1,12,0.8,-2.64,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,214120.00,3638.57890,N,12152.74479,W,1,12,0.8,-3.06,M,-33.25,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 99813520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214121.00,3638.57883,N,12152.74477,W,1,12,0.8,-3.57,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,214122.00,3638.57905,N,12152.74492,W,1,12,0.8,-4.08,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,214123.00,3638.57913,N,12152.74528,W,1,12,0.8,-4.24,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,214124.00,3638.57934,N,12152.74567,W,1,12,0.8,-4.13,M,-33.25,M,,*74

: AshtechGps::processRecord() - $GPGGA,214125.00,3638.57933,N,12152.74575,W,1,12,0.8,-3.41,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,214126.00,3638.57929,N,12152.74549,W,1,12,0.8,-2.58,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,214127.00,3638.57916,N,12152.74516,W,1,12,0.8,-2.43,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,214128.00,3638.57903,N,12152.74498,W,1,12,0.8,-2.64,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,214129.00,3638.57897,N,12152.74495,W,1,12,0.8,-2.98,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 599231270
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214130.00,3638.57894,N,12152.74495,W,1,12,0.8,-3.03,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214131.00,3638.57897,N,12152.74488,W,1,12,0.8,-2.95,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214132.00,3638.57894,N,12152.74485,W,1,12,0.8,-3.02,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,214133.00,3638.57891,N,12152.74485,W,1,12,0.8,-2.95,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,214134.00,3638.57884,N,12152.74474,W,1,12,0.8,-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,214135.00,3638.57877,N,12152.74465,W,1,12,0.8,-3.22,M,-33.25,M,,*74

: AshtechGps::processRecord() - $GPGGA,214136.00,3638.57876,N,12152.74468,W,1,12,0.8,-3.64,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,214137.00,3638.57886,N,12152.74476,W,1,12,0.8,-3.85,M,-33.25,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 98649020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214138.00,3638.57897,N,12152.74485,W,1,12,0.8,-3.82,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,214139.00,3638.57905,N,12152.74498,W,1,12,0.8,-3.73,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,214140.00,3638.57915,N,12152.74516,W,1,12,0.8,-3.53,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214141.00,3638.57919,N,12152.74518,W,1,12,0.8,-3.22,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,214142.00,3638.57917,N,12152.74513,W,1,12,0.8,-2.80,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,214143.00,3638.57905,N,12152.74497,W,1,12,0.8,-2.38,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,214144.00,3638.57891,N,12152.74464,W,1,12,0.8,-2.12,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,214145.00,3638.57878,N,12152.74443,W,1,12,0.8,-2.37,M,-33.25,M,,*7D

: AshtechGps::processRecord() - $GPGGA,214146.00,3638.57871,N,12152.74436,W,1,12,0.8,-2.67,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 598066770
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214147.00,3638.57861,N,12152.74427,W,1,12,0.8,-2.88,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,214148.00,3638.57862,N,12152.74417,W,1,12,0.8,-3.30,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,214149.00,3638.57874,N,12152.74416,W,1,12,0.8,-3.75,M,-33.25,M,,*7A

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,214150.00,3638.57889,N,12152.74438,W,1,12,0.8,-4.30,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,214151.00,3638.57909,N,12152.74478,W,1,12,0.8,-4.41,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214152.00,3638.57917,N,12152.74505,W,1,12,0.8,-3.81,M,-33.25,M,,*7C

: AshtechGps::processRecord() - $GPGGA,214153.00,3638.57912,N,12152.74515,W,1,12,0.8,-3.25,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,214154.00,3638.57908,N,12152.74496,W,1,12,0.8,-2.66,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,214155.00,3638.57896,N,12152.74461,W,1,12,0.8,-2.12,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,214156.00,3638.57893,N,12152.74432,W,1,12,0.8,-2.19,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214157.00,3638.57880,N,12152.74406,W,1,12,0.8,-2.41,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,214158.00,3638.57879,N,12152.74391,W,1,12,0.8,-2.77,M,-33.25,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 597244770
: 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,214159.00,3638.57873,N,12152.74386,W,1,12,0.8,-3.00,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214200.00,3638.57880,N,12152.74386,W,1,12,0.8,-3.29,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,214201.00,3638.57876,N,12152.74394,W,1,12,0.8,-3.55,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,214202.00,3638.57883,N,12152.74397,W,1,12,0.8,-3.61,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,214203.00,3638.57890,N,12152.74416,W,1,12,0.8,-3.81,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214204.00,3638.57899,N,12152.74430,W,1,12,0.8,-3.73,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,214205.00,3638.57901,N,12152.74435,W,1,12,0.8,-3.49,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,214206.00,3638.57906,N,12152.74441,W,1,12,0.8,-3.30,M,-33.25,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 96662520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214207.00,3638.57909,N,12152.74438,W,1,12,0.8,-2.82,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,214208.00,3638.57897,N,12152.74414,W,1,12,0.8,-2.34,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,214209.00,3638.57891,N,12152.74373,W,1,12,0.8,-2.28,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,214210.00,3638.57872,N,12152.74356,W,1,12,0.8,-2.74,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214211.00,3638.57881,N,12152.74349,W,1,12,0.8,-3.13,M,-33.25,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214212.00,3638.57877,N,12152.74366,W,1,12,0.8,-3.37,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,214213.00,3638.57883,N,12152.74374,W,1,12,0.8,-3.37,M,-33.25,M,,*7B

: AshtechGps::processRecord() - $GPGGA,214214.00,3638.57873,N,12152.74367,W,1,12,0.8,-3.06,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,214215.00,3638.57866,N,12152.74344,W,1,12,0.8,-2.87,M,-33.25,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606079585
: 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,214216.00,3638.57862,N,12152.74331,W,1,12,0.8,-3.15,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214217.00,3638.57863,N,12152.74336,W,1,12,0.8,-3.42,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,214218.00,3638.57874,N,12152.74349,W,1,12,0.8,-3.69,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,214219.00,3638.57887,N,12152.74357,W,1,12,0.8,-3.60,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,214220.00,3638.57888,N,12152.74365,W,1,12,0.8,-3.46,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214221.00,3638.57889,N,12152.74362,W,1,12,0.8,-3.40,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,214222.00,3638.57881,N,12152.74364,W,1,12,0.8,-3.10,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,214223.00,3638.57885,N,12152.74362,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105497335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214224.00,3638.57874,N,12152.74342,W,1,12,0.8,-2.52,M,-33.25,M,,*70

: AshtechGps::processRecord() - $GPGGA,214225.00,3638.57863,N,12152.74304,W,1,12,0.8,-2.31,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214226.00,3638.57853,N,12152.74276,W,1,12,0.8,-2.31,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,214227.00,3638.57845,N,12152.74256,W,1,12,0.8,-2.73,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214228.00,3638.57835,N,12152.74248,W,1,12,0.8,-3.37,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214229.00,3638.57839,N,12152.74263,W,1,12,0.8,-3.97,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,214230.00,3638.57845,N,12152.74291,W,1,12,0.8,-3.99,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,214231.00,3638.57858,N,12152.74299,W,1,12,0.8,-3.82,M,-33.25,M,,*71

: AshtechGps::processRecord() - $GPGGA,214232.00,3638.57863,N,12152.74287,W,1,12,0.8,-3.46,M,-33.25,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 604915085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214233.00,3638.57870,N,12152.74282,W,1,12,0.8,-3.42,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,214234.00,3638.57884,N,12152.74305,W,1,12,0.8,-3.60,M,-33.25,M,,*7D

: AshtechGps::processRecord() - $GPGGA,214235.00,3638.57895,N,12152.74325,W,1,12,0.8,-3.28,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,214236.00,3638.57884,N,12152.74314,W,1,12,0.8,-2.40,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,214237.00,3638.57858,N,12152.74273,W,1,12,0.8,-1.97,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,214238.00,3638.57832,N,12152.74219,W,1,12,0.8,-1.75,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214239.00,3638.57818,N,12152.74178,W,1,12,0.8,-2.19,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,214240.00,3638.57813,N,12152.74155,W,1,12,0.8,-2.86,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 104332835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214241.00,3638.57815,N,12152.74149,W,1,12,0.8,-3.32,M,-33.25,M,,*7A

: AshtechGps::processRecord() - $GPGGA,214242.00,3638.57823,N,12152.74167,W,1,12,0.8,-4.00,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,214243.00,3638.57844,N,12152.74200,W,1,12,0.8,-4.25,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,214244.00,3638.57855,N,12152.74234,W,1,12,0.8,-4.17,M,-33.25,M,,*72

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

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

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214245.00,3638.57865,N,12152.74246,W,1,12,0.8,-3.89,M,-33.25,M,,*75

: AshtechGps::processRecord() - $GPGGA,214246.00,3638.57875,N,12152.74254,W,1,12,0.8,-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,214247.00,3638.57876,N,12152.74252,W,1,12,0.8,-3.01,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214248.00,3638.57871,N,12152.74239,W,1,12,0.8,-2.61,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,214249.00,3638.57859,N,12152.74214,W,1,12,0.8,-2.35,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,214250.00,3638.57844,N,12152.74177,W,1,12,0.8,-2.03,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,214251.00,3638.57824,N,12152.74137,W,1,12,0.8,-1.98,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,214252.00,3638.57803,N,12152.74098,W,1,12,0.8,-2.37,M,-33.25,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 103510835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214253.00,3638.57800,N,12152.74082,W,1,12,0.8,-3.15,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,214254.00,3638.57798,N,12152.74106,W,1,12,0.8,-3.72,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,214255.00,3638.57825,N,12152.74128,W,1,12,0.8,-4.13,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,214256.00,3638.57831,N,12152.74152,W,1,12,0.8,-4.03,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,214257.00,3638.57850,N,12152.74157,W,1,12,0.8,-3.73,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,214258.00,3638.57849,N,12152.74170,W,1,12,0.8,-3.54,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,214259.00,3638.57853,N,12152.74174,W,1,12,0.8,-3.60,M,-33.25,M,,*78

: AshtechGps::processRecord() - $GPGGA,214300.00,3638.57855,N,12152.74172,W,1,12,0.8,-3.19,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,214301.00,3638.57840,N,12152.74163,W,1,12,0.8,-2.74,M,-33.25,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 602928585
: 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,214302.00,3638.57832,N,12152.74145,W,1,12,0.8,-2.43,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,214303.00,3638.57814,N,12152.74128,W,1,12,0.8,-2.25,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,214304.00,3638.57810,N,12152.74083,W,1,12,0.8,-2.13,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,214305.00,3638.57788,N,12152.74048,W,1,12,0.8,-2.51,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,214306.00,3638.57790,N,12152.74032,W,1,12,0.8,-3.37,M,-33.25,M,,*72

: AshtechGps::processRecord() - $GPGGA,214307.00,3638.57805,N,12152.74047,W,1,12,0.8,-3.91,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,214308.00,3638.57815,N,12152.74075,W,1,12,0.8,-3.95,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,214309.00,3638.57831,N,12152.74086,W,1,12,0.8,-3.71,M,-33.25,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 102346335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214310.00,3638.57823,N,12152.74094,W,1,12,0.8,-3.35,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,214311.00,3638.57825,N,12152.74086,W,1,12,0.8,-3.25,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,214312.00,3638.57809,N,12152.74075,W,1,12,0.8,-3.12,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,214313.00,3638.57810,N,12152.74062,W,1,12,0.8,-3.03,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,214314.00,3638.57807,N,12152.74059,W,1,12,0.8,-3.11,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,214315.00,3638.57810,N,12152.74053,W,1,12,0.8,-3.17,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,214316.00,3638.57818,N,12152.74051,W,1,12,0.8,-3.20,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,214317.00,3638.57820,N,12152.74056,W,1,12,0.8,-3.15,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,214318.00,3638.57824,N,12152.74046,W,1,12,0.8,-2.93,M,-33.25,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 601764085
: 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,214319.00,3638.57816,N,12152.74017,W,1,12,0.8,-2.44,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,214320.00,3638.57801,N,12152.73984,W,1,12,0.8,-2.26,M,-33.25,M,,*73

: AshtechGps::processRecord() - $GPGGA,214321.00,3638.57786,N,12152.73954,W,1,12,0.8,-2.52,M,-33.25,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,214322.00,3638.57771,N,12152.73936,W,1,12,0.8,-3.03,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,214323.00,3638.57780,N,12152.73939,W,1,12,0.8,-3.74,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214324.00,3638.57785,N,12152.73977,W,1,12,0.8,-4.38,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,214325.00,3638.57814,N,12152.74018,W,1,12,0.8,-4.39,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,214326.00,3638.57827,N,12152.74042,W,1,12,0.8,-3.93,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,214327.00,3638.57833,N,12152.74034,W,1,12,0.8,-3.23,M,-33.25,M,,*74

: AshtechGps::processRecord() - $GPGGA,214328.00,3638.57822,N,12152.74023,W,1,12,0.8,-2.70,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,214329.00,3638.57822,N,12152.73999,W,1,12,0.8,-2.28,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,214330.00,3638.57804,N,12152.73965,W,1,12,0.8,-1.92,M,-33.25,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600942085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214331.00,3638.57790,N,12152.73922,W,1,12,0.8,-2.17,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,214332.00,3638.57773,N,12152.73885,W,1,12,0.8,-2.64,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,214333.00,3638.57773,N,12152.73875,W,1,12,0.8,-3.23,M,-33.25,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.400000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,214334.00,3638.57779,N,12152.73887,W,1,12,0.8,-3.71,M,-33.25,M,,*77

: AshtechGps::processRecord() - $GPGGA,214335.00,3638.57788,N,12152.73908,W,1,12,0.8,-3.96,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,214336.00,3638.57795,N,12152.73937,W,1,12,0.8,-4.04,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,214337.00,3638.57813,N,12152.73961,W,1,12,0.8,-3.97,M,-33.25,M,,*76

: AshtechGps::processRecord() - $GPGGA,214338.00,3638.57822,N,12152.73971,W,1,12,0.8,-3.53,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,214339.00,3638.57823,N,12152.73964,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,214340.00,3638.57821,N,12152.73937,W,1,12,0.8,-2.52,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,214341.00,3638.57807,N,12152.73894,W,1,12,0.8,-2.18,M,-33.25,M,,*7F

: AshtechGps::processRecord() - $GPGGA,214342.00,3638.57794,N,12152.73858,W,1,12,0.8,-2.51,M,-33.25,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 600120085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,214343.00,3638.57786,N,12152.73842,W,1,12,0.8,-3.17,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,214344.00,3638.57798,N,12152.73847,W,1,12,0.8,-3.75,M,-33.25,M,,*77

: AshtechGps::processRecord() - $GPGGA,214345.00,3638.57810,N,12152.73875,W,1,12,0.8,-3.83,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:-5.400000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,214346.00,3638.57815,N,12152.73887,W,1,12,0.8,-3.52,M,-33.25,M,,*76

: 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 TailConeIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

:  CameraDestructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - 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

:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****


//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

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object m3dmgx1Cmd ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298.
: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeOutput_ShmemName ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:000213A0.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: **** 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.
