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

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

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

er: SerialDevice: done...


Supervisor:: SerialDevice: done...

:createTask() - dvlServer
S: SerialDevice: done...

upervisor:: SerialDevice: done...

:createTask() - fanServer
Superv: Gps: initializing

isor: SerialDevice: done...

: SerialDevice: done...

::cre: SerialDevice: done...

ateTask: SerialDevice: done...

() - d: Crossbow.cc: In getSerialNumber()
ropWeightServer
Supervisor::c: SerialDevice: done...

reate: SerialDevice: done...

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

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

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

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

: SerialDevice: done...

: SerialDevice: done...

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

: CameraDriver:: Before navigation IF.
: SonardyneDriver -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 1
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7
	MRPL       = 0.000000ms

: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: ahrs if is Ahrs

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

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

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

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

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

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

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

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

:  Dvl record header not found.  Resynchronize.

: SonardyneDriver::acquireDiagData() - S:116.900000, N:32.500000, D:0.000000, U:0.011805, Q:0.000000

: SerialDevice: done...

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 637.86612,N,12152.57570,W,1,08,1.1,-0.44,M,-33.23,M,,*7E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,171231.00,3637.86607,N,12152.57571,W,1,08,1.1,-0.63,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,171232.00,3637.86612,N,12152.57576,W,1,08,1.1,-1.12,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,171233.00,3637.86617,N,12152.57602,W,1,08,1.1,-1.24,M,-33.23,M,,*79

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,171234.00,3637.86628,N,12152.57608,W,1,08,1.1,-1.09,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,171235.00,3637.86621,N,12152.57620,W,1,08,1.1,-0.74,M,-33.23,M,,*7E

: Parosci.cc -- Initial pressure = 0.068948
: AshtechGps::processRecord() - $GPGGA,171236.00,3637.86627,N,12152.57607,W,1,08,1.1,-0.32,M,-33.23,M,,*7C

: Parosci.cc -- Parosci initial pressure period = 30.139080
: Parosci.cc -- Parosci initial temp period = 5.842678
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,171237.00,3637.86617,N,12152.57598,W,1,08,1.1,-0.13,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,171238.00,3637.86614,N,12152.57591,W,1,08,1.1,-0.00,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,171239.00,3637.86611,N,12152.57576,W,1,08,1.1,0.16,M,-33.23,M,,*58

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 371179177
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171240.00,3637.86595,N,12152.57562,W,1,08,1.1,-0.09,M,-33.23,M,,*7F

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,171241.00,3637.86588,N,12152.57548,W,1,08,1.1,-0.62,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,171242.00,3637.86590,N,12152.57557,W,1,08,1.1,-1.30,M,-33.23,M,,*75

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,171243.00,3637.86611,N,12152.57585,W,1,08,1.1,-1.73,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,171244.00,3637.86630,N,12152.57624,W,1,08,1.1,-1.46,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,171245.00,3637.86640,N,12152.57646,W,1,08,1.1,-0.70,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,171246.00,3637.86636,N,12152.57636,W,1,08,1.1,-0.28,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,171247.00,3637.86619,N,12152.57615,W,1,08,1.1,-0.28,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,171248.00,3637.86615,N,12152.57592,W,1,08,1.1,-0.26,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,171249.00,3637.86603,N,12152.57592,W,1,08,1.1,-0.49,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,171250.00,3637.86605,N,12152.57594,W,1,08,1.1,-0.64,M,-33.23,M,,*76

: 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
: AshtechGps::processRecord() - $GPGGA,171251.00,3637.86598,N,12152.57607,W,1,08,1.1,-0.83,M,-33.23,M,,*70

: 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 ***

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 370357177
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171252.00,3637.86602,N,12152.57615,W,1,08,1.1,-0.84,M,-33.23,M,,*77

: 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,171253.00,3637.86609,N,12152.57611,W,1,08,1.1,-0.59,M,-33.23,M,,*79

: 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,171254.00,3637.86601,N,12152.57602,W,1,08,1.1,-0.52,M,-33.23,M,,*7F

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: 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,171255.00,3637.86604,N,12152.57594,W,1,08,1.1,-0.71,M,-33.23,M,,*76

: 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,171256.00,3637.86600,N,12152.57604,W,1,08,1.1,-0.92,M,-33.23,M,,*76

: 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,171257.00,3637.86612,N,12152.57609,W,1,08,1.1,-0.85,M,-33.23,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,171258.00,3637.86613,N,12152.57609,W,1,08,1.1,-0.76,M,-33.23,M,,*7D

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: AshtechGps::processRecord() - $GPGGA,171259.00,3637.86615,N,12152.57601,W,1,08,1.1,-0.92,M,-33.23,M,,*78

: 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,171300.00,3637.86617,N,12152.57605,W,1,08,1.1,-0.92,M,-33.23,M,,*73

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.999383) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.999383) 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,171301.00,3637.86620,N,12152.57613,W,1,08,1.1,-0.85,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,171302.00,3637.86629,N,12152.57613,W,1,08,1.1,-0.59,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,171303.00,3637.86620,N,12152.57607,W,1,08,1.1,-0.37,M,-33.23,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 369535177
: 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,171304.00,3637.86619,N,12152.57585,W,1,08,1.1,-0.64,M,-33.23,M,,*7B

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

: AshtechGps::processRecord() - $GPGGA,171305.00,3637.86617,N,12152.57568,W,1,08,1.1,-0.82,M,-33.23,M,,*7F

: AshtechGps::processRecord() - $GPGGA,171306.00,3637.86615,N,12152.57558,W,1,08,1.1,-0.74,M,-33.23,M,,*74

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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,171307.00,3637.86610,N,12152.57543,W,1,08,1.1,-0.76,M,-33.23,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,171308.00,3637.86610,N,12152.57522,W,1,08,1.1,-0.66,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,171309.00,3637.86607,N,12152.57489,W,1,08,1.1,-0.48,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,171310.00,3637.86598,N,12152.57445,W,1,08,1.1,-0.46,M,-33.23,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,171311.00,3637.86584,N,12152.57403,W,1,08,1.1,-0.50,M,-33.23,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,171312.00,3637.86575,N,12152.57361,W,1,08,1.1,-0.61,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,171313.00,3637.86570,N,12152.57321,W,1,08,1.1,-0.90,M,-33.23,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,171314.00,3637.86577,N,12152.57286,W,1,08,1.1,-1.20,M,-33.23,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,171315.00,3637.86593,N,12152.57257,W,1,08,1.1,-1.45,M,-33.23,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 368713177
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171316.00,3637.86619,N,12152.57231,W,1,08,1.1,-1.50,M,-33.23,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,171317.00,3637.86633,N,12152.57198,W,1,08,1.1,-1.22,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,171318.00,3637.86649,N,12152.57146,W,1,08,1.1,-0.70,M,-33.23,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,171319.00,3637.86660,N,12152.57074,W,1,08,1.1,-0.36,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,171320.00,3637.86674,N,12152.56997,W,1,08,1.1,-0.06,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,171321.00,3637.86678,N,12152.56903,W,1,08,1.1,-0.06,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,171322.00,3637.86696,N,12152.56826,W,1,08,1.1,-0.73,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,171323.00,3637.86733,N,12152.56771,W,1,08,1.1,-1.11,M,-33.23,M,,*7C

: 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 868130927
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171324.00,3637.86780,N,12152.56725,W,1,08,1.1,-1.28,M,-33.23,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,171325.00,3637.86826,N,12152.56674,W,1,08,1.1,-1.18,M,-33.23,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,171326.00,3637.86873,N,12152.56619,W,1,08,1.1,-1.30,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,171327.00,3637.86931,N,12152.56597,W,1,08,1.1,-1.56,M,-33.23,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,171328.00,3637.86997,N,12152.56578,W,1,08,1.1,-1.42,M,-33.23,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,171329.00,3637.87066,N,12152.56561,W,1,08,1.1,-1.13,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,171330.00,3637.87121,N,12152.56519,W,1,08,1.1,-0.51,M,-33.23,M,,*73

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

: LayeredControl::execute() -- (t = 39.197315) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 39.197315) Behavior descend:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,171331.00,3637.87172,N,12152.56479,W,1,08,1.1,-0.56,M,-33.23,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,171332.00,3637.87233,N,12152.56444,W,1,08,1.1,-0.55,M,-33.23,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 367548677
: 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,171333.00,3637.87299,N,12152.56438,W,1,08,1.1,-0.85,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,171334.00,3637.87369,N,12152.56436,W,1,08,1.1,-1.19,M,-33.23,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,171335.00,3637.87441,N,12152.56441,W,1,08,1.1,-1.32,M,-33.23,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,171336.00,3637.87510,N,12152.56435,W,1,08,1.1,-1.30,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,171337.00,3637.87580,N,12152.56447,W,1,08,1.1,-1.47,M,-33.23,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,171338.00,3637.87653,N,12152.56457,W,1,08,1.1,-1.31,M,-33.23,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,171339.00,3637.86552,N,12152.57035,W,1,08,1.1,5.97,M,-33.23,M,,*53

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

: AshtechGps::processRecord() - $GPGGA,171340.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 866966427
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171341.00,,,,,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,171342.00,,,,,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,171343.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171344.00,,,,,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,171345.00,,,,,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,171346.00,,,,,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,171347.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171348.00,,,,,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,171349.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 366384177
: 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,171350.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171351.00,,,,,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,171352.00,,,,,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,171353.00,,,,,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,171354.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171355.00,,,,,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,171356.00,,,,,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,171357.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 865801927
: SonardyneDriver::acquireRangeData() - no valid response
: Descend::execute() - Descend terminating on depth 5.134927 > 5.000000 at time 66.795424

: LayeredControl::execute() -- (t = 66.795424) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 66.795424) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,171358.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171359.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171400.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171401.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171402.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171403.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171404.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171405.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171406.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 365219677
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171407.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171408.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171409.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171410.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171411.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171412.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171413.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171414.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 864637427
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171415.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171416.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171417.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171418.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171419.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171420.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171421.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171422.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171423.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 364055177
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171424.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171425.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171426.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171427.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171428.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171429.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171430.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171431.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 863472927
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171432.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171433.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171434.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171435.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171436.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171437.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171438.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171439.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171440.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 362890677
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171441.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171442.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171443.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,171444.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171445.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171446.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171447.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171448.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171449.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171450.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171451.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171452.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412065252
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171453.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171454.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171455.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

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

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

: AshtechGps::processRecord() - $GPGGA,171456.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171457.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171458.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171459.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171500.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171501.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171502.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171503.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171504.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 371245992
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171505.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171506.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171507.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171508.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171509.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171510.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171511.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171512.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 870663742
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171513.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171514.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171515.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171516.00,,,,,0,00,,,M,,M,,*4D

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171517.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171518.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171519.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,171520.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171521.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171522.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171523.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171524.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171525.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171526.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171527.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171528.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 369601992
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171529.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171530.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171531.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171532.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171533.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171534.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171535.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171536.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 869019742
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171537.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171538.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171539.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171540.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171541.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171542.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171543.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171544.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171545.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 368437492
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171546.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171547.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171548.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171549.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171550.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171551.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171552.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171553.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 867855242
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171554.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171555.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171556.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171557.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171558.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171559.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171600.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171601.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171602.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 367272992
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171603.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171604.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171605.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171606.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171607.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171608.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171609.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171610.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 866690742
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171611.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171612.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171613.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171614.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171615.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171616.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171617.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171618.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171619.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 366108492
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171620.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171621.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171622.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.300000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,171623.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171624.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171625.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171626.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171627.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171628.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171629.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171630.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171631.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 365286492
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171632.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171633.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171634.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.900000, D:0.000000, U:0.000000, Q:***************************************

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

: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171635.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171636.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171637.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171638.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171639.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171640.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171641.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171642.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171643.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 364464492
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171644.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171645.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171646.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171647.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171648.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171649.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171650.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171651.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 863882242
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171652.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171653.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171654.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171655.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171657.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171659.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171700.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 363299992
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171701.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171704.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171705.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171706.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171707.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171708.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 862717742
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171709.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171710.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171711.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171712.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171715.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171716.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 362135492
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171718.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171719.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171720.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171722.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171723.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171725.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 861553242
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171726.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171728.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171729.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171730.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171731.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171732.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171733.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171734.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 370970307
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171735.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171736.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171737.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171738.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171739.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171740.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171741.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171742.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 870388057
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171743.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171744.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171745.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171746.00,,,,,0,00,,,M,,M,,*4A

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

: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

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

: AshtechGps::processRecord() - $GPGGA,171747.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171748.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171749.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171750.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171751.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171752.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171753.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171754.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 869566057
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171755.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171756.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171757.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171758.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171759.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171800.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171801.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171802.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171803.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 368983807
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171804.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171805.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171806.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171807.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171808.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171809.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171810.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171811.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 868401557
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171812.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171813.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171814.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171815.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171816.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171817.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171818.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171819.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171820.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 367819307
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171821.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171822.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171823.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171824.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171825.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171826.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171827.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171828.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 867237057
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171829.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171830.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171831.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171832.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171833.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171834.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171835.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171836.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171837.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 366654807
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171838.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171839.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171840.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171841.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171842.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171843.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171844.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171845.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 866072557
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171846.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171847.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171848.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171849.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171850.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171851.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171852.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171853.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171854.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 365490307
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171855.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171856.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171857.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171858.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171859.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171900.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171901.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171902.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 864908057
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171903.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171904.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171905.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171906.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171907.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171908.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171909.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171910.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171911.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 364325807
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171912.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171913.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171914.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171915.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171916.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171917.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171918.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171919.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 863743557
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171920.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171921.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171922.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171923.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171924.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171925.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171926.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171927.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171928.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 363161307
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171929.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171930.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171931.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

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

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

: AshtechGps::processRecord() - $GPGGA,171932.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171933.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171934.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171935.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171936.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171937.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171938.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171939.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171940.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 362339307
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,171941.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171942.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171943.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.900000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171944.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171945.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171946.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171947.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171948.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171949.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171950.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171951.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171952.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 361517307
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171953.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171954.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171955.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.100000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,171958.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171959.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172000.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172001.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172002.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172003.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172004.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 370694622
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172005.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172006.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172007.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172008.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172009.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172011.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172012.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 870112372
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172013.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172014.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172015.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172016.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172017.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172018.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172019.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172020.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172021.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 369530122
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172022.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172023.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172024.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172025.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172026.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172027.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172028.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172029.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 868947872
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172030.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172031.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172032.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172033.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172034.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172035.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172036.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172037.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=12.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 466.798022) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 466.798022) Behavior ascend:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,172038.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 368365622
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172039.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172040.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172041.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172042.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172043.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172044.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172045.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172046.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 867783372
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172047.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172048.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172049.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172050.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172051.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172052.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172053.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172054.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172055.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 367201122
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172056.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172057.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172058.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172059.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172100.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172101.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172102.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172103.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 866618872
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172104.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172105.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172106.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172107.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172108.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172109.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172110.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172111.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172112.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 366036622
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172113.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172114.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172115.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172116.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172117.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172118.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172119.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172120.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 865454372
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172121.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172122.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172123.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172124.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172125.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172126.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172127.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172128.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172129.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 364872122
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172130.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172131.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=0 horz=-0.17
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172132.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl::execute() -- (t = 521.794255) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 521.794255) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,172133.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172134.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172136.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172137.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172138.00,,,,,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,172139.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172140.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172141.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 364050122
: 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,172142.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172143.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172144.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172145.00,,,,,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,172146.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,172147.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172148.00,3638.16661,N,12152.58429,W,1,08,1.2,-1.72,M,-33.23,M,,*76

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

: AshtechGps::processRecord() - $GPGGA,172149.00,3638.16689,N,12152.58462,W,1,08,1.2,-1.69,M,-33.23,M,,*74

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 863467872
: 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,172150.00,3638.16732,N,12152.58434,W,1,08,1.2,0.47,M,-33.23,M,,*5E

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,172151.00,3638.16682,N,12152.58560,W,1,05,1.9,-1.77,M,-33.23,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172152.00,3638.16701,N,12152.58550,W,1,08,1.2,-0.24,M,-33.23,M,,*77

: 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,172153.00,3638.16724,N,12152.58561,W,1,08,1.2,-0.84,M,-33.23,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: AshtechGps::processRecord() - $GPGGA,172154.00,3638.16730,N,12152.58568,W,1,08,1.2,-0.92,M,-33.23,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,172155.00,3638.16732,N,12152.58608,W,1,08,1.2,-2.14,M,-33.23,M,,*7F

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172156.00,3638.16803,N,12152.58577,W,1,08,1.2,-1.10,M,-33.23,M,,*7D

: 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,172157.00,3638.16823,N,12152.58614,W,1,08,1.2,-1.20,M,-33.23,M,,*7B

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 545.992597) 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 = 546.192583) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 546.192583) Behavior missionTimer:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,172158.00,3638.16840,N,12152.58641,W,1,08,1.2,-1.29,M,-33.23,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 362885622
: 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,172159.00,3638.16848,N,12152.58670,W,1,08,1.2,-1.13,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172200.00,3638.16864,N,12152.58688,W,1,08,1.2,-1.09,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,172201.00,3638.16877,N,12152.58684,W,1,08,1.2,-0.53,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172202.00,3638.16887,N,12152.58682,W,1,08,1.2,-0.73,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172203.00,3638.16903,N,12152.58705,W,1,08,1.2,-1.30,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,172204.00,3638.16934,N,12152.58744,W,1,08,1.2,-2.03,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172205.00,3638.16948,N,12152.58783,W,1,08,1.2,-1.80,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172206.00,3638.16960,N,12152.58791,W,1,08,1.2,-1.48,M,-33.23,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 862303372
: 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,172207.00,3638.17028,N,12152.58789,W,1,09,1.1,-0.07,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,172208.00,3638.17033,N,12152.58794,W,1,09,1.1,-0.36,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172209.00,3638.17043,N,12152.58812,W,1,09,1.1,-0.68,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172210.00,3638.17058,N,12152.58844,W,1,09,1.1,-0.89,M,-33.23,M,,*75

: AshtechGps::processRecord() - $GPGGA,172211.00,3638.17085,N,12152.58861,W,1,09,1.1,-0.78,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172212.00,3638.17096,N,12152.58879,W,1,09,1.1,-0.73,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172213.00,3638.17117,N,12152.58898,W,1,09,1.1,-0.72,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172214.00,3638.17132,N,12152.58922,W,1,09,1.1,-0.67,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,172215.00,3638.17148,N,12152.58939,W,1,09,1.1,-0.66,M,-33.23,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 361721122
: 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,172216.00,3638.17153,N,12152.58958,W,1,09,1.1,-0.49,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172217.00,3638.17161,N,12152.58959,W,1,09,1.1,-0.27,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,172218.00,3638.17163,N,12152.58958,W,1,09,1.1,-0.42,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172219.00,3638.17180,N,12152.58965,W,1,09,1.1,-0.74,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172220.00,3638.17191,N,12152.58979,W,1,09,1.1,-0.53,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172221.00,3638.17206,N,12152.59003,W,1,09,1.1,-0.80,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,172222.00,3638.17223,N,12152.59037,W,1,09,1.1,-0.97,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172223.00,3638.17236,N,12152.59061,W,1,09,1.1,-0.85,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 871138187
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172224.00,3638.17245,N,12152.59070,W,1,09,1.1,-0.55,M,-33.23,M,,*73

: AshtechGps::processRecord() - $GPGGA,172225.00,3638.17252,N,12152.59083,W,1,09,1.1,-0.69,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172226.00,3638.17267,N,12152.59103,W,1,09,1.1,-0.75,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172227.00,3638.17283,N,12152.59119,W,1,09,1.1,-0.69,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172228.00,3638.17284,N,12152.59128,W,1,09,1.1,-0.27,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,172229.00,3638.17282,N,12152.59138,W,1,09,1.1,-0.12,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172230.00,3638.17282,N,12152.59145,W,1,09,1.1,-0.13,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172231.00,3638.17284,N,12152.59154,W,1,09,1.1,-0.45,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,172232.00,3638.17290,N,12152.59170,W,1,09,1.1,-0.72,M,-33.23,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 370555937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172233.00,3638.17304,N,12152.59201,W,1,09,1.1,-1.21,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172234.00,3638.17317,N,12152.59236,W,1,09,1.1,-1.22,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172235.00,3638.17337,N,12152.59267,W,1,09,1.1,-1.12,M,-33.23,M,,*71

: AshtechGps::processRecord() - $GPGGA,172236.00,3638.17343,N,12152.59291,W,1,09,1.1,-0.86,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172237.00,3638.17350,N,12152.59296,W,1,09,1.1,-0.29,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172238.00,3638.17350,N,12152.59296,W,1,09,1.1,-0.09,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,172239.00,3638.17350,N,12152.59297,W,1,09,1.1,-0.17,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172240.00,3638.17353,N,12152.59303,W,1,09,1.1,-0.41,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 869973687
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172241.00,3638.17354,N,12152.59308,W,1,09,1.1,-0.64,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172242.00,3638.17356,N,12152.59316,W,1,09,1.1,-0.68,M,-33.23,M,,*7D

: AshtechGps::processRecord() - $GPGGA,172243.00,3638.17366,N,12152.59322,W,1,09,1.1,-0.77,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172244.00,3638.17375,N,12152.59345,W,1,09,1.1,-0.95,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172245.00,3638.17387,N,12152.59392,W,1,09,1.1,-1.25,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,172246.00,3638.17401,N,12152.59420,W,1,09,1.1,-0.95,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172247.00,3638.17402,N,12152.59431,W,1,09,1.1,-0.70,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172248.00,3638.17409,N,12152.59432,W,1,09,1.1,-0.56,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172249.00,3638.17402,N,12152.59417,W,1,09,1.1,-0.50,M,-33.23,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 369391437
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172250.00,3638.17418,N,12152.59427,W,1,09,1.1,-0.92,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172251.00,3638.17417,N,12152.59452,W,1,09,1.1,-1.21,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172252.00,3638.17431,N,12152.59468,W,1,09,1.1,-0.95,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,172253.00,3638.17419,N,12152.59462,W,1,09,1.1,-0.40,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172254.00,3638.17412,N,12152.59460,W,1,09,1.1,-0.41,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172255.00,3638.17398,N,12152.59452,W,1,09,1.1,-0.56,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172256.00,3638.17404,N,12152.59460,W,1,09,1.1,-1.12,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,172257.00,3638.17419,N,12152.59486,W,1,09,1.1,-1.51,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 868809187
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172258.00,3638.17436,N,12152.59523,W,1,09,1.1,-1.62,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172259.00,3638.17451,N,12152.59539,W,1,09,1.1,-1.12,M,-33.23,M,,*70

: AshtechGps::processRecord() - $GPGGA,172300.00,3638.17446,N,12152.59528,W,1,09,1.1,-0.55,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172301.00,3638.17444,N,12152.59512,W,1,09,1.1,-0.35,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172302.00,3638.17434,N,12152.59491,W,1,09,1.1,-0.68,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172303.00,3638.17437,N,12152.59510,W,1,09,1.1,-1.58,M,-33.23,M,,*7B

: AshtechGps::processRecord() - $GPGGA,172304.00,3638.17441,N,12152.59537,W,1,09,1.1,-1.86,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172305.00,3638.17455,N,12152.59561,W,1,09,1.1,-1.58,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172306.00,3638.17460,N,12152.59582,W,1,09,1.1,-1.42,M,-33.23,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 368226937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172307.00,3638.17470,N,12152.59594,W,1,09,1.1,-0.82,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172308.00,3638.17465,N,12152.59577,W,1,09,1.1,-0.38,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172309.00,3638.17455,N,12152.59558,W,1,09,1.1,-0.55,M,-33.23,M,,*75

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

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

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172310.00,3638.17451,N,12152.59556,W,1,09,1.1,-0.65,M,-33.23,M,,*74

: AshtechGps::processRecord() - $GPGGA,172311.00,3638.17444,N,12152.59558,W,1,09,1.1,-0.60,M,-33.23,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172312.00,3638.17436,N,12152.59546,W,1,09,1.1,-0.65,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172313.00,3638.17429,N,12152.59533,W,1,09,1.1,-0.97,M,-33.23,M,,*76

: AshtechGps::processRecord() - $GPGGA,172314.00,3638.17434,N,12152.59548,W,1,09,1.1,-1.49,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172315.00,3638.17444,N,12152.59567,W,1,09,1.1,-1.73,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172316.00,3638.17460,N,12152.59598,W,1,09,1.1,-1.76,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172317.00,3638.17468,N,12152.59627,W,1,09,1.1,-1.59,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,172318.00,3638.17483,N,12152.59646,W,1,09,1.1,-1.21,M,-33.23,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 367404937
: 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,172319.00,3638.17493,N,12152.59646,W,1,09,1.1,-0.85,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172320.00,3638.17479,N,12152.59624,W,1,09,1.1,-0.53,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,172321.00,3638.17476,N,12152.59620,W,1,09,1.1,-0.42,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172322.00,3638.17460,N,12152.59612,W,1,09,1.1,-0.46,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172323.00,3638.17462,N,12152.59609,W,1,09,1.1,-0.56,M,-33.23,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172324.00,3638.17459,N,12152.59604,W,1,09,1.1,-0.79,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,172325.00,3638.17458,N,12152.59610,W,1,09,1.1,-1.08,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172326.00,3638.17455,N,12152.59606,W,1,09,1.1,-1.11,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 866822687
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172327.00,3638.17460,N,12152.59613,W,1,09,1.1,-1.38,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,172328.00,3638.17475,N,12152.59637,W,1,09,1.1,-1.42,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172329.00,3638.17481,N,12152.59658,W,1,09,1.1,-1.41,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172330.00,3638.17484,N,12152.59670,W,1,09,1.1,-1.27,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172331.00,3638.17488,N,12152.59672,W,1,09,1.1,-1.21,M,-33.23,M,,*77

: AshtechGps::processRecord() - $GPGGA,172332.00,3638.17490,N,12152.59673,W,1,09,1.1,-1.28,M,-33.23,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172333.00,3638.17498,N,12152.59693,W,1,09,1.1,-1.39,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172334.00,3638.17502,N,12152.59713,W,1,09,1.1,-1.08,M,-33.23,M,,*7C

: AshtechGps::processRecord() - $GPGGA,172335.00,3638.17506,N,12152.59725,W,1,09,1.1,-0.59,M,-33.23,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 366240437
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172336.00,3638.17502,N,12152.59706,W,1,09,1.1,-0.30,M,-33.23,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172337.00,3638.17494,N,12152.59690,W,1,09,1.1,-0.23,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172338.00,3638.17479,N,12152.59683,W,1,09,1.1,-0.63,M,-33.23,M,,*79

: AshtechGps::processRecord() - $GPGGA,172339.00,3638.17473,N,12152.59684,W,1,09,1.1,-1.14,M,-33.23,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172340.00,3638.17482,N,12152.59697,W,1,09,1.1,-1.49,M,-33.23,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172341.00,3638.17487,N,12152.59702,W,1,09,1.1,-1.40,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,172342.00,3638.17503,N,12152.59712,W,1,09,1.1,-1.18,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172343.00,3638.17507,N,12152.59708,W,1,09,1.1,-1.08,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 865658187
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172344.00,3638.17506,N,12152.59718,W,1,09,1.1,-1.33,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172345.00,3638.17508,N,12152.59727,W,1,09,1.1,-1.67,M,-33.23,M,,*7E

: AshtechGps::processRecord() - $GPGGA,172346.00,3638.17519,N,12152.59744,W,1,09,1.1,-1.80,M,-33.23,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172347.00,3638.17534,N,12152.59772,W,1,09,1.1,-1.37,M,-33.23,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172348.00,3638.17536,N,12152.59772,W,1,09,1.1,-0.84,M,-33.23,M,,*72

: AshtechGps::processRecord() - $GPGGA,172349.00,3638.17525,N,12152.59751,W,1,09,1.1,-0.52,M,-33.23,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172350.00,3638.17514,N,12152.59735,W,1,09,1.1,-0.65,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172351.00,3638.17514,N,12152.59723,W,1,09,1.1,-0.93,M,-33.23,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172352.00,3638.17527,N,12152.59750,W,1,09,1.1,-1.12,M,-33.23,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 365075937
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172353.00,3638.17528,N,12152.59747,W,1,09,1.1,-0.98,M,-33.23,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172354.00,3638.17531,N,12152.59762,W,1,09,1.1,-0.75,M,-33.23,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172355.00,3638.17526,N,12152.59739,W,1,09,1.1,-0.62,M,-33.23,M,,*78

: AshtechGps::processRecord() - $GPGGA,172356.00,3638.17524,N,12152.59741,W,1,09,1.1,-0.77,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172357.00,3638.17523,N,12152.59731,W,1,09,1.1,-1.11,M,-33.23,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172358.00,3638.17529,N,12152.59742,W,1,09,1.0,-1.54,M,-33.23,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172359.00,3638.17540,N,12152.59747,W,1,09,1.0,-1.74,M,-33.23,M,,*7A

: AshtechGps::processRecord() - $GPGGA,172400.00,3638.17556,N,12152.59779,W,1,09,1.0,-1.61,M,-33.23,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 864493687
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,172401.00,3638.17564,N,12152.59792,W,1,09,1.0,-1.30,M,-33.23,M,,*7E

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

:  CameraDestructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000422A0.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object m3dmgx1 ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298.
: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 5d 5d 00 00 01 00 00
: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****