Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCo: Initializing worksiteServer nfigurat: WorkSite::WorkSite -- Adding attributes ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg Server Supervisor::createTask() - externalCo: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" mmsServer Supervisor::createTask() - navigatio: WorkSite::WorkSite -- Finished loading parameters nSe: WorkSite::WorkSite -- Starting Depth is 0.000000 meters rve: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 r : 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 ::c: WorkSite server: 0x2300c reateTask() - layere: New Navigation component constructor dControlServer Supervisor::createTask() - dyn: Navigation - Using only the Dvl to compute altitude. a: Navigation: Opening Acoustic Modem Interface: micControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask(: SerialDevice: done... ): TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts - : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts par: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts os: Preparing to fork c: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts iServ: I'm the child...forking e: SerialDevice: done... r Supervisor::createTask() - bl: SerialDevice: done... uefinBattDriver S: SerialDevice: done... upervis: SerialDevice: done... or::createTask() - dvlServer : BluefinBatt driver - running with 2 batteries Supe: Gps: initializing r: SerialDevice: done... vi: SerialDevice: done... s: SerialDevice: done... or::c: BluefineBatt::init() - 2 batteries on 10 second interval reateTask() - fan: BluefinBatt.cc - Looking for Parosci server Serv: SerialDevice: done... : SerialDevice: done... er: SerialDevice: done... Supe: Crossbow.cc: In getSerialNumber() r: BluefinBatt::init() - querying for batt ids visor::createTask() - dropWei: SerialDevice: done... ghtServer Supervisor::c: SerialDevice: done... reateTask() - sonardyneServer Supervisor::createTask() - cameraServer Supervisor:: SerialDevice: done... :create: SonardyneServer.cc was last compiled on Jun 16 2009, 16:32:35 Task() - echoSoun: SerialDevice: done... derServer Su: DropWeight::initialize - Resetting counters. pe: **** EventTriggers::add() - attaching proxy rvisor::c: SerialDeviceDriver::initialize() rea: Starting DVL Initialization. teTa: SerialDevice: done... : SerialDevice: done... sk() - benthosServer Supervisor::creat: SonardyneDriver.cc was last compiled on Jun 16 2009, 16:32:31 eTask() - terrainAidDri: Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs v: CameraDriver:: Before navigation IF. er : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1495.000000 m/s Beacon = V11,2 MRPL = 2 ms : BenthosModem::commandMode() - confirming... : SerialDevice: done... : EchoSounder -- configuration: Maximum Range = 10 m StartGain = 10 dB Absorption = 0.20 dB/m Pulse Length = 50 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -90.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 1.00 seconds : Scaled and shifted frequency = 100 : Set verbose level : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : Set write delay : Set remote response waiting time : 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 > : Turn on doppler correction : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,155920.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : SerialDevice: done... : 3 Modules found : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - ,3648.69291,N,12158.11190,W,1,11,0.8,-2.94,M,-32.92,M,,*70 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,155921.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,155923.00,3648.69284,N,12158.11174,W,1,11,0.8,-2.64,M,-32.92,M,,*70 : NMEA Update: $GPGGA,155922.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : AshtechGps::processRecord() - $GPGGA,155924.00,3648.69277,N,12158.11146,W,1,11,0.8,-2.54,M,-32.92,M,,*79 : NMEA Update: $GPGGA,155923.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,155925.00,3648.69267,N,12158.11118,W,1,11,0.8,-2.67,M,-32.92,M,,*72 : BluefinBatt::init() - battery ids are b3 b4 : BluefinBatt::init() - found battery b3 : BluefinBatt::init() - found battery b4 : NMEA Update: $GPGGA,155924.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,155926.00,3648.69253,N,12158.11101,W,1,11,0.8,-3.06,M,-32.92,M,,*78 : NMEA Update: $GPGGA,155925.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,155927.00,3648.69253,N,12158.11098,W,1,11,0.8,-3.20,M,-32.92,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,155926.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,155928.00,3648.69241,N,12158.11096,W,1,11,0.8,-3.29,M,-32.92,M,,*77 : Parosci.cc -- Initial pressure = 1.034214 : NMEA Update: $GPGGA,155927.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : Parosci.cc -- Parosci initial pressure period = 30.138560 : Parosci.cc -- Parosci initial temp period = 5.841271 : Parosci.cc -- Paroscientific configured. : AshtechGps::processRecord() - $GPGGA,155929.00,3648.69244,N,12158.11087,W,1,11,0.8,-3.09,M,-32.92,M,,*71 : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,155928.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,155930.00,3648.69236,N,12158.11069,W,1,11,0.8,-2.87,M,-32.92,M,,*7B : NMEA Update: $GPGGA,155929.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : BluefinBatt::init() - battery watchdog state is $b3wf 1 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,155931.00,3648.69229,N,12158.11047,W,1,11,0.8,-2.83,M,-32.92,M,,*7C : NMEA Update: $GPGGA,155930.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,155932.00,3648.69224,N,12158.11028,W,1,11,0.8,-2.75,M,-32.92,M,,*72 : NMEA Update: $GPGGA,155931.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,155933.00,3648.69208,N,12158.11003,W,1,11,0.8,-2.87,M,-32.92,M,,*79 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,155932.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,155934.00,3648.69203,N,12158.10985,W,1,11,0.8,-3.30,M,-32.92,M,,*7E : NMEA Update: $GPGGA,155933.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,155935.00,3648.69190,N,12158.10992,W,1,11,0.8,-3.31,M,-32.92,M,,*71 : NMEA Update: $GPGGA,155934.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : BluefinBatt::init() - battery watchdog state is $b4wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,155936.00,3648.69193,N,12158.10986,W,1,11,0.8,-2.89,M,-32.92,M,,*76 : NMEA Update: $GPGGA,155935.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,155937.00,3648.69177,N,12158.10962,W,1,11,0.8,-2.61,M,-32.92,M,,*71 : NMEA Update: $GPGGA,155936.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,155938.00,3648.69178,N,12158.10933,W,1,11,0.8,-2.50,M,-32.92,M,,*77 : NMEA Update: $GPGGA,155937.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,155939.00,3648.69176,N,12158.10906,W,1,11,0.8,-2.60,M,-32.92,M,,*7D : NMEA Update: $GPGGA,155938.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,155940.00,3648.69170,N,12158.10884,W,1,11,0.8,-2.85,M,-32.92,M,,*75 : NMEA Update: $GPGGA,155939.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,155941.00,3648.69179,N,12158.10868,W,1,11,0.8,-3.03,M,-32.92,M,,*70 : NMEA Update: $GPGGA,155940.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,155942.00,3648.69164,N,12158.10861,W,1,11,0.8,-3.13,M,-32.92,M,,*77 : NMEA Update: $GPGGA,155941.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,155943.00,3648.69157,N,12158.10856,W,1,11,0.8,-3.06,M,-32.92,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, 36.812000, -121.968990 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4074513.00, 591962.00 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,155942.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 5 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,155944.00,3648.69145,N,12158.10839,W,1,11,0.8,-2.98,M,-32.92,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 2 of 5 needed : NMEA Update: $GPGGA,155943.70,3648.6914,N,-12158.1084,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,155945.00,3648.69136,N,12158.10812,W,1,11,0.8,-3.15,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : GetGPS::execute() -- Got a new GPS hit: 3 of 5 needed : NMEA Update: $GPGGA,155944.70,3648.6914,N,-12158.1081,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,155946.00,3648.69134,N,12158.10796,W,1,11,0.8,-3.45,M,-32.92,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 4 of 5 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,155945.70,3648.6913,N,-12158.1079,W,1,03,00.5,077.7,M,-99.9,M,,*4c : BluefinBatt Reply: $b3q0 d- 33.22 2.58 22.46 4.09 4.16 0 7399.20 01:17:28 m : AshtechGps::processRecord() - $GPGGA,155947.00,3648.69123,N,12158.10799,W,1,11,0.8,-3.43,M,-32.92,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 5 of 5 needed : LayeredControl::execute() -- (t = 3.599753) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3.599753) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,155946.70,3648.6912,N,-12158.1080,W,1,03,00.5,078.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155948.00,3648.69114,N,12158.10791,W,1,11,0.8,-2.85,M,-32.92,M,,*74 : NMEA Update: $GPGGA,155947.70,3648.6911,N,-12158.1079,W,1,03,00.5,078.5,M,-99.9,M,,*41 : BluefinBatt Reply: $b4q0 d- 33.05 1.22 19.92 4.07 4.16 0 10679.71 09:17:30 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155949.00,3648.69103,N,12158.10758,W,1,11,0.8,-2.68,M,-32.92,M,,*75 : NMEA Update: $GPGGA,155948.70,3648.6910,N,-12158.1075,W,1,03,00.5,079.5,M,-99.9,M,,*42 : batts online 2, min cell voltage 4.070000, mean min cell voltage 4.080000 : AshtechGps::processRecord() - $GPGGA,155950.00,3648.69096,N,12158.10723,W,1,11,0.8,-2.68,M,-32.92,M,,*7C : NMEA Update: $GPGGA,155949.70,3648.6910,N,-12158.1072,W,1,03,00.5,079.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155951.00,3648.69096,N,12158.10693,W,1,11,0.8,-2.87,M,-32.92,M,,*76 : NMEA Update: $GPGGA,155950.70,3648.6910,N,-12158.1069,W,1,03,00.5,079.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155952.00,3648.69092,N,12158.10672,W,1,11,0.8,-2.91,M,-32.92,M,,*79 : NMEA Update: $GPGGA,155951.70,3648.6909,N,-12158.1067,W,1,03,00.5,079.0,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,155953.00,3648.69092,N,12158.10652,W,1,11,0.8,-2.94,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155952.70,3648.6909,N,-12158.1065,W,1,03,00.5,078.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155954.00,3648.69085,N,12158.10622,W,1,11,0.8,-2.76,M,-32.92,M,,*75 : NMEA Update: $GPGGA,155953.70,3648.6909,N,-12158.1062,W,1,03,00.5,079.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155955.00,3648.69076,N,12158.10570,W,1,11,0.8,-2.49,M,-32.92,M,,*70 : NMEA Update: $GPGGA,155954.70,3648.6908,N,-12158.1056,W,1,03,00.5,078.9,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155956.00,3648.69075,N,12158.10505,W,1,11,0.8,-2.47,M,-32.92,M,,*7C : NMEA Update: $GPGGA,155955.70,3648.6908,N,-12158.1049,W,1,03,00.5,078.7,M,-99.9,M,,*4b : BluefinBatt Reply: $b3q0 d- 33.07 6.19 22.46 4.09 4.16 0 7398.86 01:17:38 m : AshtechGps::processRecord() - $GPGGA,155957.00,3648.69076,N,12158.10426,W,1,11,0.8,-2.88,M,-32.92,M,,*7D : NMEA Update: $GPGGA,155956.70,3648.6908,N,-12158.1041,W,1,03,00.5,079.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155958.00,3648.69085,N,12158.10368,W,1,11,0.8,-3.51,M,-32.92,M,,*76 : NMEA Update: $GPGGA,155957.70,3648.6909,N,-12158.1036,W,1,03,00.5,079.0,M,-99.9,M,,*46 : BluefinBatt::sample() - Only parsed 5 from reply $â4q8!d- 32.86 3.84 19.92 4.05 4n14 0 10679.36 01:17:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,155959.00,3648.69085,N,12158.10330,W,1,10,0.8,-3.75,M,-32.92,M,,*7D : NMEA Update: $GPGGA,155958.70,3648.6909,N,-12158.1032,W,1,03,00.5,078.2,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160000.00,3648.69089,N,12158.10310,W,1,10,0.8,-3.63,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155959.70,3648.6909,N,-12158.1031,W,1,03,00.5,077.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160001.00,3648.69098,N,12158.10266,W,1,10,0.8,-3.17,M,-32.92,M,,*75 : NMEA Update: $GPGGA,160000.70,3648.6910,N,-12158.1026,W,1,03,00.5,078.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160002.00,3648.69120,N,12158.10193,W,1,10,0.8,-2.47,M,-32.92,M,,*79 : NMEA Update: $GPGGA,160001.70,3648.6913,N,-12158.1018,W,1,03,00.5,078.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160003.00,3648.69150,N,12158.10095,W,1,10,0.8,-2.57,M,-32.92,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,160002.70,3648.6916,N,-12158.1008,W,1,03,00.5,079.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160004.00,3648.69198,N,12158.10037,W,1,10,0.8,-2.95,M,-32.92,M,,*7C : NMEA Update: $GPGGA,160003.70,3648.6921,N,-12158.1002,W,1,03,00.5,078.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160005.00,3648.69243,N,12158.09989,W,1,10,0.8,-3.24,M,-32.92,M,,*77 : NMEA Update: $GPGGA,160004.70,3648.6925,N,-12158.0998,W,1,03,00.5,079.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160006.00,3648.69292,N,12158.09971,W,1,10,0.8,-3.33,M,-32.92,M,,*79 : NMEA Update: $GPGGA,160005.69,3648.6930,N,-12158.0997,W,1,03,00.5,079.0,M,-99.9,M,,*4f : BluefinBatt Reply: $b3q0 d- 32.99 7.94 22.46 4.06 4.13 0 7398.12 01:17:48 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160007.00,3648.69338,N,12158.09938,W,1,10,0.8,-2.82,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160006.69,3648.6935,N,-12158.0994,W,1,03,00.5,077.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160008.00,3648.69380,N,12158.09897,W,1,10,0.8,-2.47,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160007.69,3648.6939,N,-12158.0989,W,1,03,00.5,079.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.9p (4.12 99.86 4.05 4.1š 0 10>79/08 01:17:54 m : AshtechGps::processRecord() - $GPGGA,160009.00,3648.69426,N,12158.09854,W,1,10,0.8,-2.55,M,-32.92,M,,*78 : NMEA Update: $GPGGA,160008.69,3648.6943,N,-12158.0985,W,1,03,00.5,079.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160010.00,3648.69486,N,12158.09820,W,1,10,0.8,-2.63,M,-32.92,M,,*7C : NMEA Update: $GPGGA,160009.69,3648.6950,N,-12158.0982,W,1,03,00.5,079.7,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160011.00,3648.69556,N,12158.09790,W,1,10,0.8,-2.83,M,-32.92,M,,*7B : NMEA Update: $GPGGA,160010.69,3648.6957,N,-12158.0978,W,1,03,00.5,078.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160012.00,3648.69622,N,12158.09787,W,1,10,0.8,-3.13,M,-32.92,M,,*76 : NMEA Update: $GPGGA,160011.69,3648.6964,N,-12158.0978,W,1,03,00.5,078.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160013.00,3648.69678,N,12158.09780,W,1,10,0.8,-3.29,M,-32.92,M,,*76 : NMEA Update: $GPGGA,160012.69,3648.6969,N,-12158.0978,W,1,03,00.5,077.9,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160014.00,3648.69722,N,12158.09790,W,1,10,0.8,-3.00,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160013.69,3648.6973,N,-12158.0979,W,1,03,00.5,078.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160015.00,3648.69771,N,12158.09757,W,1,10,0.8,-2.77,M,-32.92,M,,*78 : NMEA Update: $GPGGA,160014.69,3648.6978,N,-12158.0975,W,1,03,00.5,079.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160016.00,3648.69834,N,12158.09740,W,1,10,0.8,-2.85,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160015.69,3648.6985,N,-12158.0974,W,1,03,00.5,079.0,M,-99.9,M,,*4d : BluefinBatt Reply: $b3q0 d- 33.10 6.23 22.46 4.06 4.13 0 7397.68 01:17:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160017.00,3648.69893,N,12158.09722,W,1,10,0.8,-3.02,M,-32.92,M,,*78 : NMEA Update: $GPGGA,160016.69,3648.6990,N,-12158.0972,W,1,03,00.5,078.0,M,-99.9,M,,*4d : LayeredControl::execute() -- (t = 33.797685) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 33.797685) Behavior descend:-1 has changed to state Active : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160018.00,3648.69953,N,12158.09725,W,1,10,0.8,-2.86,M,-32.92,M,,*70 : NMEA Update: $GPGGA,160017.69,3648.6996,N,-12158.0972,W,1,03,00.5,079.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 0 from reply $b4ñ0 d= &6‰Úþ 4.51(1;.82 4.05 4.14 0 10678.71$01:18:00 m : AshtechGps::processRecord() - $GPGGA,160019.00,3648.70011,N,12158.09699,W,1,10,0.8,-2.75,M,-32.92,M,,*7C : NMEA Update: $GPGGA,160018.69,3648.7002,N,-12158.0970,W,1,03,00.5,079.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160020.00,3648.70070,N,12158.09715,W,1,10,0.8,-3.03,M,-32.92,M,,*74 : NMEA Update: $GPGGA,160019.69,3648.7008,N,-12158.0971,W,1,03,00.5,077.5,M,-99.9,M,,*42 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 10000 : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : mapbounds { ncid = 0 xmin = 4070554.458104 xmax = 4080438.458104 dx = 1.000000 ymin = 587859.400669 ymax = 593163.400669 dy = 1.000000 } : : Vehicle name: mappingAUV : Number of sensors: 2 : Sensor #1: : Sensor name: rdiDVL : Sensor type: 1 : Number of beams per measurement: 4 : Sensor #1 to vehicle transformation information: : Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) : Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) : : Sensor #2: : Sensor name: resonSeabat8101 : Sensor type: 2 : Number of beams per measurement: 20 : Sensor #2 to vehicle transformation information: : Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) : Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) : : : PeriodicTask::run() (terrainAidDriver) - sampleInterval=10000, maxInterval=10000 : AshtechGps::processRecord() - $GPGGA,160021.00,3648.70128,N,12158.09707,W,1,10,0.8,-2.89,M,-32.92,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160020.69,3648.7014,N,-12158.0971,W,1,03,00.5,079.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160022.00,3648.70189,N,12158.09708,W,1,10,0.8,-2.49,M,-32.92,M,,*72 : NMEA Update: $GPGGA,160021.69,3648.7020,N,-12158.0971,W,1,03,00.5,081.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160023.00,3648.70250,N,12158.09682,W,1,10,0.8,-2.39,M,-32.92,M,,*70 : NMEA Update: $GPGGA,160022.69,3648.7026,N,-12158.0968,W,1,03,00.5,079.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160024.00,3648.70307,N,12158.09651,W,1,10,0.8,-2.38,M,-32.92,M,,*7B : NMEA Update: $GPGGA,160023.69,3648.7032,N,-12158.0964,W,1,03,00.5,080.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160025.00,3648.70366,N,12158.09644,W,1,10,0.8,-2.76,M,-32.92,M,,*73 : NMEA Update: $GPGGA,160024.69,3648.7038,N,-12158.0964,W,1,03,00.5,077.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160026.00,3648.70425,N,12158.09627,W,1,10,0.8,-3.17,M,-32.92,M,,*73 : NMEA Update: $GPGGA,160025.69,3648.7044,N,-12158.0963,W,1,03,00.5,080.0,M,-99.9,M,,*4b : BluefinBatt Reply: $b3q0 d- 33.07 5.97 22.46 4.06 4.13 0 7396.98 01:18:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160027.00,3648.70491,N,12158.09651,W,1,10,0.8,-3.08,M,-32.92,M,,*72 : NMEA Update: $GPGGA,160026.69,3648.7050,N,-12158.0965,W,1,03,00.5,079.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160028.00,3648.70550,N,12158.09635,W,1,10,0.8,-2.80,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160027.69,3648.7056,N,-12158.0964,W,1,03,00.5,078.5,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d}`32.90 3.67 39.82 4.05 4.14 0 10678.44 01:18:10 m : AshtechGps::processRecord() - $GPGGA,160029.00,3648.70608,N,12158.09619,W,1,10,0.8,-2.78,M,-32.92,M,,*74 : NMEA Update: $GPGGA,160028.69,3648.7062,N,-12158.0961,W,1,03,00.5,080.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000 : AshtechGps::processRecord() - $GPGGA,160030.00,3648.70667,N,12158.09609,W,1,10,0.8,-2.68,M,-32.92,M,,*75 : NMEA Update: $GPGGA,160029.69,3648.7068,N,-12158.0961,W,1,03,00.5,080.1,M,-99.9,M,,*4a : TerrainAidDriver:: _navTime0 = 1245254429.77 : TerrainAidDriver:: _dvlTime0 = 57628.64 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074489.31, 592026.69) : _tercom->outstandingMeas() = 0 : TerrainNav:: vehicle motion has been initialized : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160031.00,3648.70724,N,12158.09597,W,1,10,0.8,-2.71,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160030.69,3648.7074,N,-12158.0960,W,1,03,00.5,078.3,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160032.00,3648.70781,N,12158.09592,W,1,10,0.8,-2.84,M,-32.92,M,,*7D : TerrainNav::Minimum Correlation Error: 17.1348 : NMEA Update: $GPGGA,160031.69,3648.7079,N,-12158.0959,W,1,03,00.5,078.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 0.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 0.00 : 48.00 : Estimated East Bias at time = 0.00 : 48.00 : Estimated Depth Bias at time = 0.00 : -16.05 : Estimated northing and easting = 4074537.31 : 592074.69 : AshtechGps::processRecord() - $GPGGA,160033.00,3648.70836,N,12158.09590,W,1,10,0.8,-2.84,M,-32.92,M,,*7D : NMEA Update: $GPGGA,160032.69,3648.7085,N,-12158.0959,W,1,03,00.5,079.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160034.00,3648.70894,N,12158.09582,W,1,10,0.8,-2.60,M,-32.92,M,,*7B : NMEA Update: $GPGGA,160033.69,3648.7091,N,-12158.0958,W,1,03,00.5,080.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160035.00,3648.70961,N,12158.09564,W,1,10,0.8,-2.35,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160034.69,3648.7097,N,-12158.0956,W,1,03,00.5,079.4,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160036.00,3648.71033,N,12158.09527,W,1,10,0.8,-2.48,M,-32.92,M,,*78 : NMEA Update: $GPGGA,160035.69,3648.7105,N,-12158.0952,W,1,03,00.5,078.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 33.10 5.32 22.46 4.06 4.13 0 7396.61 01:18:18 m : AshtechGps::processRecord() - $GPGGA,160037.00,3648.71099,N,12158.09521,W,1,10,0.8,-2.65,M,-32.92,M,,*70 : NMEA Update: $GPGGA,160036.69,3648.7111,N,-12158.0951,W,1,03,00.5,079.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160038.00,3648.71160,N,12158.09493,W,1,10,0.8,-2.85,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160037.69,3648.7117,N,-12158.0949,W,1,03,00.5,078.5,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 3:.90 3.35 19.82 4.05 4.14 0 10678.12 01:18:20 m : AshtechGps::processRecord() - $GPGGA,160039.00,3648.71216,N,12158.09489,W,1,10,0.8,-2.94,M,-32.92,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,160038.69,3648.7123,N,-12158.0949,W,1,03,00.5,078.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160040.00,3648.71269,N,12158.09486,W,1,10,0.8,-3.21,M,-32.92,M,,*70 : NMEA Update: $GPGGA,160039.69,3648.7128,N,-12158.0948,W,1,03,00.5,079.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4074500.44, 592028.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160041.00,3648.71320,N,12158.09491,W,1,10,0.8,-3.21,M,-32.92,M,,*7B : NMEA Update: $GPGGA,160040.69,3648.7133,N,-12158.0949,W,1,03,00.5,078.1,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 10.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 10.00 : 40.00 : Estimated East Bias at time = 10.00 : 46.00 : Estimated Depth Bias at time = 10.00 : -16.22 : Estimated northing and easting = 4074540.44 : 592074.33 : AshtechGps::processRecord() - $GPGGA,160042.00,3648.71377,N,12158.09475,W,1,10,0.8,-2.91,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160041.69,3648.7139,N,-12158.0947,W,1,03,00.5,078.5,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160043.00,3648.71438,N,12158.09446,W,1,10,0.8,-2.76,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160042.69,3648.7145,N,-12158.0944,W,1,03,00.5,079.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160044.00,3648.71500,N,12158.09443,W,1,10,0.8,-2.89,M,-32.92,M,,*76 : NMEA Update: $GPGGA,160043.69,3648.7151,N,-12158.0944,W,1,03,00.5,077.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160045.00,3648.71566,N,12158.09437,W,1,10,0.8,-2.82,M,-32.92,M,,*7F : NMEA Update: $GPGGA,160044.69,3648.7158,N,-12158.0944,W,1,03,00.5,079.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160046.00,3648.71625,N,12158.09426,W,1,10,0.8,-2.32,M,-32.92,M,,*73 : NMEA Update: $GPGGA,160045.69,3648.7164,N,-12158.0943,W,1,03,00.5,079.4,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 33.10 6.31 22.55 4.07 4.13 0 7396.05 01:18:28 m : AshtechGps::processRecord() - $GPGGA,160047.00,3648.71683,N,12158.09390,W,1,10,0.8,-2.34,M,-32.92,M,,*72 : NMEA Update: $GPGGA,160046.69,3648.7169,N,-12158.0938,W,1,03,00.5,078.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160048.00,3648.71749,N,12158.09368,W,1,10,0.8,-2.65,M,-32.92,M,,*79 : NMEA Update: $GPGGA,160047.69,3648.7176,N,-12158.0936,W,1,03,00.5,079.8,M,-99.9,M,,*41 : BluefinBatt Reply: $b4q0 d- 32.90 2.66 19.82 4.05 4.14 0 10677.92 01:18:30 m : AshtechGps::processRecord() - $GPGGA,160049.00,3648.71822,N,12158.09358,W,1,10,0.8,-2.75,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160048.69,3648.7184,N,-12158.0935,W,1,03,00.5,078.6,M,-99.9,M,,*4f : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160050.00,3648.71888,N,12158.09352,W,1,10,0.8,-2.75,M,-32.92,M,,*7A : NMEA Update: $GPGGA,160049.69,3648.7190,N,-12158.0935,W,1,03,00.5,078.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4074511.95, 592030.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160051.00,3648.71944,N,12158.09327,W,1,10,0.8,-2.58,M,-32.92,M,,*77 : NMEA Update: $GPGGA,160050.69,3648.7195,N,-12158.0932,W,1,03,00.5,079.0,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 20.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 20.00 : 38.00 : Estimated East Bias at time = 20.00 : 45.00 : Estimated Depth Bias at time = 20.00 : -16.19 : Estimated northing and easting = 4074549.95 : 592075.25 : AshtechGps::processRecord() - $GPGGA,160052.00,3648.71993,N,12158.09298,W,1,10,0.8,-2.92,M,-32.92,M,,*7D : NMEA Update: $GPGGA,160051.69,3648.7200,N,-12158.0929,W,1,03,00.5,078.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160053.00,3648.72048,N,12158.09296,W,1,10,0.8,-3.28,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160052.69,3648.7206,N,-12158.0930,W,1,03,00.5,079.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160054.00,3648.72101,N,12158.09302,W,1,10,0.8,-3.16,M,-32.92,M,,*74 : NMEA Update: $GPGGA,160053.69,3648.7211,N,-12158.0930,W,1,03,00.5,078.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160055.00,3648.72152,N,12158.09284,W,1,10,0.8,-2.96,M,-32.92,M,,*75 : NMEA Update: $GPGGA,160054.69,3648.7216,N,-12158.0928,W,1,03,00.5,079.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160056.00,3648.72202,N,12158.09268,W,1,10,0.8,-3.25,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160055.69,3648.7221,N,-12158.0926,W,1,03,00.5,079.0,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 33.07 5.70 22.46 4.07 4.13 0 7395.67 01:18:38 m : AshtechGps::processRecord() - $GPGGA,160057.00,3648.72262,N,12158.09265,W,1,10,0.8,-3.14,M,-32.92,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,160056.69,3648.7227,N,-12158.0927,W,1,03,00.5,079.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160058.00,3648.72321,N,12158.09249,W,1,10,0.8,-2.76,M,-32.92,M,,*71 : NMEA Update: $GPGGA,160057.69,3648.7233,N,-12158.0925,W,1,03,00.5,077.4,M,-99.9,M,,*42 : BluefinBatt::sample() - Only parsed 6 from reply $b4qp d- 32.94 3.07 19.72 4.06 4.1400 10677î57 01:18:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160059.00,3648.72380,N,12158.09233,W,1,10,0.8,-2.81,M,-32.92,M,,*7E : NMEA Update: $GPGGA,160058.69,3648.7239,N,-12158.0923,W,1,03,00.5,078.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160100.00,3648.72445,N,12158.09214,W,1,10,0.8,-2.84,M,-32.92,M,,*7D : NMEA Update: $GPGGA,160059.69,3648.7246,N,-12158.0921,W,1,03,00.5,078.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074522.28, 592032.20) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160101.00,3648.72506,N,12158.09210,W,1,10,0.8,-2.79,M,-32.92,M,,*7C : NMEA Update: $GPGGA,160100.69,3648.7252,N,-12158.0921,W,1,03,00.5,078.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 30.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160102.00,3648.72565,N,12158.09189,W,1,10,0.8,-2.63,M,-32.92,M,,*72 : NMEA Update: $GPGGA,160101.69,3648.7258,N,-12158.0919,W,1,03,00.5,079.3,M,-99.9,M,,*4b : Estimated North Bias at time = 30.00 : 37.00 : Estimated East Bias at time = 30.00 : 45.00 : Estimated Depth Bias at time = 30.00 : -16.17 : Estimated northing and easting = 4074559.28 : 592077.20 : AshtechGps::processRecord() - $GPGGA,160103.00,3648.72625,N,12158.09174,W,1,10,0.8,-2.97,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160102.69,3648.7264,N,-12158.0917,W,1,03,00.5,079.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160104.00,3648.72687,N,12158.09162,W,1,10,0.8,-2.98,M,-32.92,M,,*7A : NMEA Update: $GPGGA,160103.69,3648.7270,N,-12158.0916,W,1,03,00.5,078.0,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160105.00,3648.72755,N,12158.09147,W,1,10,0.8,-2.71,M,-32.92,M,,*75 : NMEA Update: $GPGGA,160104.69,3648.7277,N,-12158.0914,W,1,03,00.5,080.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160106.00,3648.72806,N,12158.09120,W,1,10,0.8,-2.97,M,-32.92,M,,*76 : NMEA Update: $GPGGA,160105.69,3648.7282,N,-12158.0911,W,1,03,00.5,078.5,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 33.03 5.85 22.55 4.07 4.13 0 7395.01 01:18:48 m : AshtechGps::processRecord() - $GPGGA,160107.00,3648.72861,N,12158.09108,W,1,10,0.8,-3.30,M,-32.92,M,,*70 : NMEA Update: $GPGGA,160106.69,3648.7287,N,-12158.0911,W,1,03,00.5,079.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160108.00,3648.72923,N,12158.09111,W,1,09,1.0,-2.87,M,-32.92,M,,*7C : NMEA Update: $GPGGA,160107.69,3648.7293,N,-12158.0911,W,1,03,00.5,079.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.90 3.21 19.82 4.06 4.14 0 10677.30 01:18:50 m : AshtechGps::processRecord() - $GPGGA,160109.00,3648.72979,N,12158.09088,W,1,09,1.0,-2.83,M,-32.92,M,,*77 : NMEA Update: $GPGGA,160108.69,3648.7299,N,-12158.0908,W,1,03,00.5,077.2,M,-99.9,M,,*40 : batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000 : AshtechGps::processRecord() - $GPGGA,160110.00,3648.73037,N,12158.09094,W,1,09,1.0,-2.56,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160109.69,3648.7305,N,-12158.0909,W,1,03,00.5,078.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4074533.20, 592033.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160111.00,3648.73093,N,12158.09082,W,1,09,1.0,-2.62,M,-32.92,M,,*77 : NMEA Update: $GPGGA,160110.69,3648.7310,N,-12158.0908,W,1,03,00.5,078.8,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 40.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160112.00,3648.73152,N,12158.09071,W,1,09,1.0,-2.67,M,-32.92,M,,*71 : NMEA Update: $GPGGA,160111.69,3648.7316,N,-12158.0907,W,1,03,00.5,078.7,M,-99.9,M,,*4b : Estimated North Bias at time = 40.00 : 37.00 : Estimated East Bias at time = 40.00 : 45.00 : Estimated Depth Bias at time = 40.00 : -16.17 : Estimated northing and easting = 4074570.20 : 592078.86 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160113.00,3648.73211,N,12158.09060,W,1,09,1.0,-2.72,M,-32.92,M,,*70 : NMEA Update: $GPGGA,160112.69,3648.7322,N,-12158.0906,W,1,03,00.5,079.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160114.00,3648.73268,N,12158.09047,W,1,09,1.0,-2.71,M,-32.92,M,,*7F : NMEA Update: $GPGGA,160113.69,3648.7328,N,-12158.0905,W,1,03,00.5,078.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160115.00,3648.73330,N,12158.09040,W,1,09,1.0,-2.58,M,-32.92,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,160114.69,3648.7334,N,-12158.0904,W,1,03,00.5,079.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160116.00,3648.73393,N,12158.09028,W,1,09,1.0,-1.66,M,-32.92,M,,*74 : NMEA Update: $GPGGA,160115.69,3648.7341,N,-12158.0903,W,1,03,00.5,077.7,M,-99.9,M,,*46 : BluefinBatt Reply: $b3q0 d- 33.10 4.79 22.46 4.07 4.13 0 7394.59 01:18:58 m : AshtechGps::processRecord() - $GPGGA,160117.00,3648.73448,N,12158.08964,W,1,09,1.0,-1.70,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160116.69,3648.7346,N,-12158.0896,W,1,03,00.5,079.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160118.00,3648.73513,N,12158.08948,W,1,09,1.0,-2.38,M,-32.92,M,,*72 : NMEA Update: $GPGGA,160117.69,3648.7353,N,-12158.0894,W,1,03,00.5,079.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.90 2.20 19.82 4.06 4.14 0 10676.97 01:19:00 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160119.00,3648.73588,N,12158.08950,W,1,09,1.0,-2.50,M,-32.92,M,,*76 : NMEA Update: $GPGGA,160118.69,3648.7360,N,-12158.0895,W,1,03,00.5,079.1,M,-99.9,M,,*4e : batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160120.00,3648.73655,N,12158.08968,W,1,09,1.0,-2.16,M,-32.92,M,,*76 : NMEA Update: $GPGGA,160119.69,3648.7367,N,-12158.0897,W,1,03,00.5,079.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4074544.66, 592035.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160121.00,3648.73710,N,12158.08943,W,1,09,1.0,-2.15,M,-32.92,M,,*7D : NMEA Update: $GPGGA,160120.69,3648.7372,N,-12158.0894,W,1,03,00.5,077.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 50.00 sec. : AshtechGps::processRecord() - $GPGGA,160122.00,3648.73764,N,12158.08934,W,1,09,1.0,-2.01,M,-32.92,M,,*78 : TerrainNav::Likelihood surface maximum peak: 0.00 : NMEA Update: $GPGGA,160121.69,3648.7377,N,-12158.0893,W,1,03,00.5,078.6,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 50.00 : 36.00 : Estimated East Bias at time = 50.00 : 45.00 : Estimated Depth Bias at time = 50.00 : -16.16 : Estimated northing and easting = 4074580.66 : 592080.59 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160123.00,3648.73808,N,12158.08891,W,1,09,1.0,-2.61,M,-32.92,M,,*74 : NMEA Update: $GPGGA,160122.69,3648.7382,N,-12158.0889,W,1,03,00.5,076.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160124.00,3648.73872,N,12158.08887,W,1,09,1.0,-2.37,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160123.69,3648.7388,N,-12158.0888,W,1,03,00.5,077.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160125.00,3648.73920,N,12158.08869,W,1,09,1.0,-3.04,M,-32.92,M,,*7C : NMEA Update: $GPGGA,160124.69,3648.7393,N,-12158.0887,W,1,03,00.5,076.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160126.00,3648.74023,N,12158.08822,W,1,08,1.1,-5.44,M,-32.92,M,,*7F : NMEA Update: $GPGGA,160125.69,3648.7403,N,-12158.0882,W,1,03,00.5,075.8,M,-99.9,M,,*41 : BluefinBatt Reply: $b3q0 d- 33.14 3.99 22.46 4.07 4.14 0 7393.98 01:19:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160126.69,3648.7405,N,-12158.0882,W,1,03,00.5,075.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160127.69,3648.7409,N,-12158.0882,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 t- 32/86 (3.28 1¹.82 4.06 4.1 0 10676.76 09:19:10¡m : AshtechGps::processRecord() - $GPGGA,160129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160128.69,3648.7414,N,-12158.0881,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160129.69,3648.7418,N,-12158.0881,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074554.54, 592037.88) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,160131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160130.69,3648.7423,N,-12158.0879,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 60.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 60.00 : 36.00 : Estimated East Bias at time = 60.00 : 45.00 : Estimated Depth Bias at time = 60.00 : -16.16 : Estimated northing and easting = 4074590.54 : 592082.88 : AshtechGps::processRecord() - $GPGGA,160132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160131.69,3648.7427,N,-12158.0877,W,1,03,00.5,078.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,160132.69,3648.7433,N,-12158.0875,W,1,03,00.5,077.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160133.69,3648.7439,N,-12158.0873,W,1,03,00.5,077.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160134.69,3648.7445,N,-12158.0872,W,1,03,00.5,077.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160135.69,3648.7450,N,-12158.0871,W,1,03,00.5,074.4,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 33.03 7.11 22.36 4.07 4.14 0 7393.51 01:19:18 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160136.69,3648.7456,N,-12158.0869,W,1,03,00.5,074.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160137.69,3648.7461,N,-12158.0867,W,1,03,00.5,075.0,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 1 from reply $f4q0 d- 32n79 !4.37 19.72 4.04 4.12 0 10676.;1 01:19:20 m : AshtechGps::processRecord() - $GPGGA,160139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160138.69,3648.7467,N,-12158.0865,W,1,03,00.5,075.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160139.69,3648.7474,N,-12158.0863,W,1,03,00.5,074.3,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4074564.99, 592040.47) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160140.69,3648.7480,N,-12158.0861,W,1,03,00.5,073.3,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 70.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 70.00 : 36.00 : Estimated East Bias at time = 70.00 : 45.00 : Estimated Depth Bias at time = 70.00 : -16.16 : Estimated northing and easting = 4074600.99 : 592085.47 : AshtechGps::processRecord() - $GPGGA,160142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160141.69,3648.7486,N,-12158.0860,W,1,03,00.5,073.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160142.69,3648.7493,N,-12158.0859,W,1,03,00.5,072.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160143.69,3648.7499,N,-12158.0858,W,1,03,00.5,071.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160144.69,3648.7505,N,-12158.0857,W,1,03,00.5,071.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160145.50,3648.7510,N,-12158.0857,W,1,03,00.5,071.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.99 7.30 22.36 4.05 4.12 0 7392.73 01:19:28 m : AshtechGps::processRecord() - $GPGGA,160147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160146.50,3648.7517,N,-12158.0856,W,1,03,00.5,070.3,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160147.50,3648.7523,N,-12158.0856,W,1,03,00.5,070.3,M,-99.9,M,,*4b : BluefinBatt Reply: $b4q0 d- 32.86 3.98 19.72 4.04 4.12 0 10675n98 01:19:30 m : AshtechGps::processRecord() - $GPGGA,160149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160148.50,3648.7530,N,-12158.0856,W,1,03,00.5,070.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000 : AshtechGps::processRecord() - $GPGGA,160150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160149.50,3648.7536,N,-12158.0856,W,1,03,00.5,068.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4074576.76, 592041.31) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160150.50,3648.7542,N,-12158.0856,W,1,03,00.5,068.9,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 79.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 79.99 : 37.00 : Estimated East Bias at time = 79.99 : 45.00 : Estimated Depth Bias at time = 79.99 : -16.17 : Estimated northing and easting = 4074613.76 : 592086.31 : AshtechGps::processRecord() - $GPGGA,160152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160151.50,3648.7549,N,-12158.0855,W,1,03,00.5,068.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160152.50,3648.7556,N,-12158.0854,W,1,03,00.5,067.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160153.50,3648.7563,N,-12158.0854,W,1,03,00.5,067.2,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160154.50,3648.7570,N,-12158.0853,W,1,03,00.5,067.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160155.50,3648.7577,N,-12158.0852,W,1,03,00.5,066.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 33.03 6.46 22.46 4.05 4.12 0 7392.29 01:19:38 m : AshtechGps::processRecord() - $GPGGA,160157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160156.50,3648.7584,N,-12158.0851,W,1,03,00.5,065.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160157.50,3648.7591,N,-12158.0850,W,1,03,00.5,064.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160158.50,3648.7598,N,-12158.0849,W,1,03,00.5,064.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160159.50,3648.7604,N,-12158.0848,W,1,03,00.5,063.9,M,-99.9,M,,*45 : BluefinBatt::sample()-caught read() exception: Timed Out (¤b4q0 d- 32.75 4.96 q9.82 4.05 4®13 0 10675.58 01:19:40 m ) : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074589.43, 592042.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160200.50,3648.7611,N,-12158.0847,W,1,03,00.5,063.1,M,-99.9,M,,*49 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 89.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 89.99 : 37.00 : Estimated East Bias at time = 89.99 : 46.00 : Estimated Depth Bias at time = 89.99 : -16.17 : Estimated northing and easting = 4074626.43 : 592088.47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160201.50,3648.7618,N,-12158.0846,W,1,03,00.5,062.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160202.50,3648.7625,N,-12158.0845,W,1,03,00.5,062.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160203.50,3648.7631,N,-12158.0845,W,1,03,00.5,061.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160204.50,3648.7638,N,-12158.0844,W,1,03,00.5,061.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160205.50,3648.7645,N,-12158.0843,W,1,03,00.5,060.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 33.03 5.97 22.36 4.06 4.12 0 7391.58 01:19:48 m : AshtechGps::processRecord() - $GPGGA,160207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160206.50,3648.7651,N,-12158.0841,W,1,03,00.5,060.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160207.50,3648.7658,N,-12158.0840,W,1,03,00.5,060.0,M,-99.9,M,,*46 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.83!˜4—šNÈ99.72 4.05 4.13 0 10675.:9 0±:1;:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160208.50,3648.7665,N,-12158.0839,W,1,03,00.5,059.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160209.50,3648.7673,N,-12158.0839,W,1,03,00.5,058.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 100.003149 : TerrainNav update at dvl time = 100.003149 : _navData-> (x,y) = (4074602.13, 592043.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160210.50,3648.7680,N,-12158.0838,W,1,03,00.5,057.6,M,-99.9,M,,*48 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 100.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 100.00 : 38.00 : Estimated East Bias at time = 100.00 : 46.00 : Estimated Depth Bias at time = 100.00 : -16.17 : Estimated northing and easting = 4074640.13 : 592089.68 : AshtechGps::processRecord() - $GPGGA,160212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160211.50,3648.7687,N,-12158.0837,W,1,03,00.5,057.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160212.50,3648.7695,N,-12158.0836,W,1,03,00.5,056.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160213.50,3648.7702,N,-12158.0835,W,1,03,00.5,056.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160214.50,3648.7709,N,-12158.0833,W,1,03,00.5,056.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160215.50,3648.7716,N,-12158.0832,W,1,03,00.5,056.0,M,-99.9,M,,*4e : BluefinBatt Reply: $b3q0 d- 33.03 7.07 22.36 4.06 4.12 0 7391.15 01:19:58 m : AshtechGps::processRecord() - $GPGGA,160217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160216.50,3648.7724,N,-12158.0831,W,1,03,00.5,054.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160217.50,3648.7731,N,-12158.0830,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : BluefinBatt Reply: $â´u0 d- 32.83 4.41 19.82 4.05 4.13 0 10674.87 01:20:00 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160218.50,3648.7738,N,-12158.0829,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000 : AshtechGps::processRecord() - $GPGGA,160220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160219.50,3648.7745,N,-12158.0828,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 110.002464 : TerrainNav update at dvl time = 110.002464 : _navData-> (x,y) = (4074615.42, 592045.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160220.50,3648.7751,N,-12158.0827,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160221.50,3648.7758,N,-12158.0827,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 110.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 110.00 : 38.00 : Estimated East Bias at time = 110.00 : 46.00 : Estimated Depth Bias at time = 110.00 : -16.17 : Estimated northing and easting = 4074653.42 : 592091.08 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160222.50,3648.7765,N,-12158.0826,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,160224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160223.50,3648.7772,N,-12158.0825,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160224.50,3648.7773,N,-12158.0825,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160225.50,3648.7780,N,-12158.0825,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : BluefinBatt Reply: $b3q0 d- 33.03 6.65 22.46 4.05 4.12 0 7390.41 01:20:08 m : AshtechGps::processRecord() - $GPGGA,160227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160226.50,3648.7787,N,-12158.0824,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160227.50,3648.7794,N,-12158.0823,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.83 ³>88 19.82 4.05 4.13 8010674.58 01:r8:10 m : AshtechGps::processRecord() - $GPGGA,160229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160228.50,3648.7801,N,-12158.0823,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160229.50,3648.7808,N,-12158.0822,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074627.25, 592045.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160230.50,3648.7815,N,-12158.0822,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 120.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 120.00 : 39.00 : Estimated East Bias at time = 120.00 : 47.00 : Estimated Depth Bias at time = 120.00 : -16.17 : Estimated northing and easting = 4074666.25 : 592092.75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160231.49,3648.7822,N,-12158.0822,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160232.49,3648.7829,N,-12158.0821,W,1,03,00.5,045.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160233.49,3648.7836,N,-12158.0820,W,1,03,00.5,044.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160234.49,3648.7843,N,-12158.0820,W,1,03,00.5,043.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160235.49,3648.7850,N,-12158.0819,W,1,03,00.5,042.6,M,-99.9,M,,*43 : BluefinBatt Reply: $b3q0 d- 33.03 6.00 22.46 4.05 4.12 0 7389.90 01:20:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160236.49,3648.7857,N,-12158.0818,W,1,03,00.5,043.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160237.49,3648.7863,N,-12158.0817,W,1,03,00.5,042.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q8 d- 36.7; 3.74 19.72 4.05 4.12 0 10674.13 01:20:24 m J : AshtechGps::processRecord() - $GPGGA,160239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160238.49,3648.7870,N,-12158.0816,W,1,03,00.5,042.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160239.49,3648.7877,N,-12158.0815,W,1,03,00.5,042.0,M,-99.9,M,,*40 : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4074639.93, 592046.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160240.49,3648.7884,N,-12158.0814,W,1,03,00.5,041.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 130.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160241.49,3648.7891,N,-12158.0813,W,1,03,00.5,041.0,M,-99.9,M,,*42 : Estimated North Bias at time = 130.00 : 39.00 : Estimated East Bias at time = 130.00 : 47.00 : Estimated Depth Bias at time = 130.00 : -16.17 : Estimated northing and easting = 4074678.93 : 592093.74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160242.49,3648.7898,N,-12158.0812,W,1,03,00.5,040.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160243.49,3648.7905,N,-12158.0811,W,1,03,00.5,039.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160244.49,3648.7912,N,-12158.0810,W,1,03,00.5,039.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160245.49,3648.7920,N,-12158.0808,W,1,03,00.5,038.9,M,-99.9,M,,*40 : BluefinBatt Reply: $b3q0 d- 33.03 6.35 22.36 4.05 4.12 0 7389.22 01:20:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160246.49,3648.7927,N,-12158.0807,W,1,03,00.5,037.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160247.49,3648.7934,N,-12158.0805,W,1,03,00.5,037.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.79 3.98 19.?2 4.05 4.12 0 10673.85 01:20:30 m : AshtechGps::processRecord() - $GPGGA,160249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160248.49,3648.7941,N,-12158.0804,W,1,03,00.5,036.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160249.49,3648.7948,N,-12158.0802,W,1,03,00.5,036.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4074653.08, 592048.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160250.49,3648.7955,N,-12158.0801,W,1,03,00.5,036.2,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 140.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 140.00 : 40.00 : Estimated East Bias at time = 140.00 : 47.00 : Estimated Depth Bias at time = 140.00 : -16.20 : Estimated northing and easting = 4074693.08 : 592095.55 : NMEA Update: $GPGGA,160251.49,3648.7962,N,-12158.0800,W,1,03,00.5,034.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160252.49,3648.7969,N,-12158.0799,W,1,03,00.5,034.7,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160253.49,3648.7976,N,-12158.0798,W,1,03,00.5,034.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160254.49,3648.7983,N,-12158.0797,W,1,03,00.5,033.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160255.49,3648.7990,N,-12158.0796,W,1,03,00.5,033.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.99 6.46 22.46 4.05 4.12 0 7388.77 01:20:38 m : AshtechGps::processRecord() - $GPGGA,160257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160256.49,3648.7997,N,-12158.0794,W,1,03,00.5,032.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160257.49,3648.8004,N,-12158.0793,W,1,03,00.5,032.5,M,-99.9,M,,*48 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 72.7µ (5.03 19.72 ´.05 4.12 8010673.37 01:20:t0 m : AshtechGps::processRecord() - $GPGGA,160259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160258.49,3648.8011,N,-12158.0792,W,1,03,00.5,031.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160259.49,3648.8018,N,-12158.0790,W,1,03,00.5,031.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074666.17, 592050.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160300.49,3648.8026,N,-12158.0789,W,1,03,00.5,030.9,M,-99.9,M,,*4e : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 150.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160301.49,3648.8033,N,-12158.0787,W,1,03,00.5,030.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 150.00 : 40.00 : Estimated East Bias at time = 150.00 : 48.00 : Estimated Depth Bias at time = 150.00 : -16.20 : Estimated northing and easting = 4074706.17 : 592098.26 : AshtechGps::processRecord() - $GPGGA,160303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160302.49,3648.8041,N,-12158.0785,W,1,03,00.5,030.0,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160303.49,3648.8048,N,-12158.0784,W,1,03,00.5,028.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160304.49,3648.8055,N,-12158.0782,W,1,03,00.5,028.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160305.49,3648.8062,N,-12158.0781,W,1,03,00.5,027.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.99 5.93 22.36 4.05 4.12 0 7388.09 01:20:48 m : AshtechGps::processRecord() - $GPGGA,160307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160306.49,3648.8070,N,-12158.0779,W,1,03,00.5,027.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160307.49,3648.8077,N,-12158.0778,W,1,03,00.5,026.9,M,-99.9,M,,*44 : BluefinBatt::sample() - Only parsed 6 from reply $b4q0 d- 32.79 4.02 19.53 4.05 4.12 010673.05 01:20:50 m : AshtechGps::processRecord() - $GPGGA,160309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160308.49,3648.8084,N,-12158.0777,W,1,03,00.5,026.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160309.49,3648.8091,N,-12158.0776,W,1,03,00.5,026.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4074679.50, 592052.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160310.49,3648.8098,N,-12158.0775,W,1,03,00.5,025.2,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 160.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160311.49,3648.8105,N,-12158.0773,W,1,03,00.5,025.0,M,-99.9,M,,*46 : Estimated North Bias at time = 160.00 : 41.00 : Estimated East Bias at time = 160.00 : 48.00 : Estimated Depth Bias at time = 160.00 : -16.22 : Estimated northing and easting = 4074720.50 : 592100.21 : AshtechGps::processRecord() - $GPGGA,160313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160312.49,3648.8112,N,-12158.0772,W,1,03,00.5,024.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160313.49,3648.8119,N,-12158.0771,W,1,03,00.5,023.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160314.49,3648.8127,N,-12158.0770,W,1,03,00.5,023.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160315.49,3648.8134,N,-12158.0769,W,1,03,00.5,022.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.17 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 33.03 6.31 22.36 4.05 4.12 0 7387.61 01:20:58 m : DepthEnvelope -- Measured altitude = 14.713807. Allowable altitude = 15.000000. t= 213.20. Stopping! : DepthEnvelope -- Measured altitude = 14.713807. Allowable altitude = 15.000000. t= 213.40. Stopping! : AshtechGps::processRecord() - $GPGGA,160317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160316.49,3648.8137,N,-12158.0768,W,1,03,00.5,014.7,M,-99.9,M,,*4f : DepthEnvelope -- Measured altitude = 14.713807. Allowable altitude = 15.000000. t= 213.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160317.49,3648.8145,N,-12158.0767,W,1,03,00.5,021.5,M,-99.9,M,,*40 : BluefinBatt Reply: $b4q0 d- 32.83 2.69 19.43 4.05 4.13 0 10672.63 41:21:00 m J : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160318.49,3648.8152,N,-12158.0766,W,1,03,00.5,020.6,M,-99.9,M,,*4a : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160319.49,3648.8159,N,-12158.0765,W,1,03,00.5,020.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4074692.19, 592053.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160320.49,3648.8166,N,-12158.0763,W,1,03,00.5,020.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 170.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 170.00 : 42.00 : Estimated East Bias at time = 170.00 : 48.00 : Estimated Depth Bias at time = 170.00 : -16.27 : Estimated northing and easting = 4074734.19 : 592101.74 : AshtechGps::processRecord() - $GPGGA,160322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160321.49,3648.8173,N,-12158.0762,W,1,03,00.5,019.9,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160322.49,3648.8179,N,-12158.0761,W,1,03,00.5,019.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160323.49,3648.8185,N,-12158.0760,W,1,03,00.5,018.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160324.49,3648.8190,N,-12158.0759,W,1,03,00.5,018.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160325.49,3648.8196,N,-12158.0758,W,1,03,00.5,018.4,M,-99.9,M,,*48 : BluefinBatt Reply: $b3q0 d- 33.18 1.97 22.26 4.05 4.12 0 7387.19 01:21:08 m : AshtechGps::processRecord() - $GPGGA,160327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160326.49,3648.8201,N,-12158.0756,W,1,03,00.5,017.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=1 horz=0.17 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on depth 70.011328 > 70.000000 at time 223.994655 : LayeredControl::execute() -- (t = 223.994655) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 223.99 (wplog) The current location (N,E) = 4074699.5 , 592054.9 (wplog) The next waypoint = 4074562.9 , 591862.1 (wplog) The bearing to the next w.p. is 234.7 Degrees. : LayeredControl::execute() -- (t = 223.994655) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,160328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160327.49,3648.8206,N,-12158.0755,W,1,03,00.5,017.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.94 1.29 19.33 4.05 4.13 0 10672.52 01:21:10 m : AshtechGps::processRecord() - $GPGGA,160329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160328.49,3648.8211,N,-12158.0754,W,1,03,00.5,017.7,M,-99.9,M,,*49 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160329.49,3648.8215,N,-12158.0752,W,1,03,00.5,017.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074702.35, 592055.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160330.49,3648.8220,N,-12158.0751,W,1,03,00.5,017.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 180.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 180.00 : 42.00 : Estimated East Bias at time = 180.00 : 48.00 : Estimated Depth Bias at time = 180.00 : -16.27 : Estimated northing and easting = 4074744.35 : 592103.44 : AshtechGps::processRecord() - $GPGGA,160332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160331.49,3648.8225,N,-12158.0750,W,1,03,00.5,017.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160332.49,3648.8229,N,-12158.0749,W,1,03,00.5,017.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160333.49,3648.8233,N,-12158.0748,W,1,03,00.5,017.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160334.49,3648.8238,N,-12158.0747,W,1,03,00.5,017.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160335.49,3648.8242,N,-12158.0747,W,1,03,00.5,017.3,M,-99.9,M,,*45 : BluefinBatt Reply: $b3q0 d- 33.18 1.55 22.16 4.05 4.12 0 7387.03 01:21:18 m : AshtechGps::processRecord() - $GPGGA,160337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160336.49,3648.8246,N,-12158.0747,W,1,03,00.5,017.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160337.49,3648.8249,N,-12158.0747,W,1,03,00.5,017.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt::sample() - Only parsed 5 from reply $b4q0 d- 32.98 0.97 19.23 4.07 5>15 0 10672.39 01:21:20 m : AshtechGps::processRecord() - $GPGGA,160339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160338.49,3648.8253,N,-12158.0747,W,1,03,00.5,017.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160339.49,3648.8256,N,-12158.0748,W,1,03,00.5,017.3,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4074709.64, 592055.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160340.49,3648.8259,N,-12158.0748,W,1,03,00.5,017.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 190.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 190.00 : 42.00 : Estimated East Bias at time = 190.00 : 48.00 : Estimated Depth Bias at time = 190.00 : -16.27 : Estimated northing and easting = 4074751.64 : 592103.91 : AshtechGps::processRecord() - $GPGGA,160342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160341.49,3648.8261,N,-12158.0749,W,1,03,00.5,017.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160342.49,3648.8264,N,-12158.0750,W,1,03,00.5,017.2,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160343.49,3648.8266,N,-12158.0752,W,1,03,00.5,017.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160344.49,3648.8268,N,-12158.0753,W,1,03,00.5,017.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160345.49,3648.8270,N,-12158.0754,W,1,03,00.5,017.5,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 33.18 1.63 22.07 4.07 4.14 0 7386.85 01:21:28 m : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160346.49,3648.8272,N,-12158.0755,W,1,03,00.5,017.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160347.49,3648.8274,N,-12158.0756,W,1,03,00.5,017.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt::sample() - Only parsed 1 from reply $b5q0 d- 33.01  0.73 19.14 4.07 4.15 0 10672.32 01:21:30 m : AshtechGps::processRecord() - $GPGGA,160349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160348.49,3648.8276,N,-12158.0757,W,1,03,00.5,018.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160349.49,3648.8278,N,-12158.0758,W,1,03,00.5,017.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 199.996299 : TerrainNav update at dvl time = 199.996299 : _navData-> (x,y) = (4074713.46, 592054.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160350.49,3648.8279,N,-12158.0759,W,1,03,00.5,017.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 200.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 200.00 : 42.00 : Estimated East Bias at time = 200.00 : 48.00 : Estimated Depth Bias at time = 200.00 : -16.27 : Estimated northing and easting = 4074755.46 : 592102.23 : AshtechGps::processRecord() - $GPGGA,160352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160351.49,3648.8280,N,-12158.0761,W,1,03,00.5,017.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160352.49,3648.8281,N,-12158.0762,W,1,03,00.5,018.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160353.49,3648.8282,N,-12158.0763,W,1,03,00.5,018.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160354.49,3648.8283,N,-12158.0765,W,1,03,00.5,018.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160355.49,3648.8284,N,-12158.0766,W,1,03,00.5,018.3,M,-99.9,M,,*45 : BluefinBatt Reply: $b3q0 d- 33.18 1.55 21.97 4.07 4.14 0 7386.74 01:21:38 m : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160356.49,3648.8285,N,-12158.0767,W,1,03,00.5,018.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160357.49,3648.8285,N,-12158.0768,W,1,03,00.5,018.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.98 0.87 1¹.23 4.07 4.15 0 10672.23 01:21:40 m : AshtechGps::processRecord() - $GPGGA,160359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160358.49,3648.8286,N,-12158.0770,W,1,03,00.5,018.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160359.49,3648.8286,N,-12158.0771,W,1,03,00.5,019.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074714.98, 592052.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160400.49,3648.8287,N,-12158.0771,W,1,03,00.5,019.3,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 210.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 210.00 : 42.00 : Estimated East Bias at time = 210.00 : 48.00 : Estimated Depth Bias at time = 210.00 : -16.27 : Estimated northing and easting = 4074756.98 : 592100.43 : AshtechGps::processRecord() - $GPGGA,160402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160401.49,3648.8287,N,-12158.0772,W,1,03,00.5,019.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160402.49,3648.8288,N,-12158.0773,W,1,03,00.5,019.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160403.49,3648.8288,N,-12158.0774,W,1,03,00.5,019.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160404.49,3648.8289,N,-12158.0775,W,1,03,00.5,019.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160405.49,3648.8289,N,-12158.0776,W,1,03,00.5,019.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 33.22 1.59 21.97 4.07 4.14 0 7386.54 01:21:48 m : AshtechGps::processRecord() - $GPGGA,160407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160406.49,3648.8290,N,-12158.0776,W,1,03,00.5,020.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160407.49,3648.8290,N,-12158.0777,W,1,03,00.5,019.9,M,-99.9,M,,*4b : BluefinBatt Reply: $b4q0 d- 32.98 1.04 19.04 4.07 4.15 0 10v72.17 01:21:50 m : AshtechGps::processRecord() - $GPGGA,160409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160408.49,3648.8290,N,-12158.0778,W,1,03,00.5,020.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.070000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,160410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160409.49,3648.8291,N,-12158.0779,W,1,03,00.5,020.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4074715.75, 592051.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160410.49,3648.8291,N,-12158.0780,W,1,03,00.5,020.3,M,-99.9,M,,*44 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 219.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 219.99 : 42.00 : Estimated East Bias at time = 219.99 : 48.00 : Estimated Depth Bias at time = 219.99 : -16.27 : Estimated northing and easting = 4074757.75 : 592099.12 : AshtechGps::processRecord() - $GPGGA,160412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160411.50,3648.8292,N,-12158.0781,W,1,03,00.5,020.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160412.50,3648.8292,N,-12158.0782,W,1,03,00.5,020.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160413.50,3648.8292,N,-12158.0782,W,1,03,00.5,020.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160414.50,3648.8293,N,-12158.0783,W,1,03,00.5,020.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160415.50,3648.8293,N,-12158.0783,W,1,03,00.5,021.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 33.18 1.67 21.87 4.07 4.14 0 7386.41 01:21:58 m : AshtechGps::processRecord() - $GPGGA,160417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160416.50,3648.8293,N,-12158.0783,W,1,03,00.5,021.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160417.50,3648.8294,N,-12158.0784,W,1,03,00.5,021.3,M,-99.9,M,,*4b : BluefinBatt Reply: $b4q0 d- 33.01 0.80 18.94 4.07 4.15 0 90672.04 01:22:00 m : AshtechGps::processRecord() - $GPGGA,160419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160418.50,3648.8294,N,-12158.0784,W,1,03,00.5,021.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.070000, mean min cell voltage 4.070000 : AshtechGps::processRecord() - $GPGGA,160420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160419.50,3648.8294,N,-12158.0784,W,1,03,00.5,021.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4074716.43, 592050.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160420.50,3648.8295,N,-12158.0785,W,1,03,00.5,021.7,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 229.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 229.99 : 42.00 : Estimated East Bias at time = 229.99 : 48.00 : Estimated Depth Bias at time = 229.99 : -16.27 : Estimated northing and easting = 4074758.43 : 592098.38 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160421.50,3648.8295,N,-12158.0785,W,1,03,00.5,022.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160422.50,3648.8296,N,-12158.0785,W,1,03,00.5,022.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160423.50,3648.8296,N,-12158.0786,W,1,03,00.5,022.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160424.50,3648.8297,N,-12158.0786,W,1,03,00.5,022.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160425.50,3648.8297,N,-12158.0786,W,1,03,00.5,022.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 33.18 2.01 21.87 4.08 4.14 0 7386.19 01:22:08 m : AshtechGps::processRecord() - $GPGGA,160427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160426.50,3648.8297,N,-12158.0787,W,1,03,00.5,022.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=4.10 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160427.50,3648.8298,N,-12158.0787,W,1,03,00.5,022.9,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Depth 64.228981 shallower than restart depth 64.281464 and altitude 22.881528 greater than min altitude 15.000000 at t= 285.00. Starting prop! : BluefinBatt Reply: $b4q0 d- 33.01 0.94 18.84 4.07 4.15 0 10671.91 01:22:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160428.50,3648.8298,N,-12158.0787,W,1,03,00.5,022.9,M,-99.9,M,,*41 : batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000 : AshtechGps::processRecord() - $GPGGA,160430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160429.50,3648.8298,N,-12158.0787,W,1,03,00.5,023.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074717.04, 592050.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160430.50,3648.8298,N,-12158.0787,W,1,03,00.5,023.3,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 239.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 239.99 : 42.00 : Estimated East Bias at time = 239.99 : 48.00 : Estimated Depth Bias at time = 239.99 : -16.27 : Estimated northing and easting = 4074759.04 : 592098.00 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160431.50,3648.8298,N,-12158.0788,W,1,03,00.5,023.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160432.50,3648.8298,N,-12158.0789,W,1,03,00.5,023.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160433.50,3648.8298,N,-12158.0791,W,1,03,00.5,023.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160434.50,3648.8298,N,-12158.0793,W,1,03,00.5,023.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160435.50,3648.8298,N,-12158.0796,W,1,03,00.5,023.7,M,-99.9,M,,*42 : BluefinBatt Reply: $b3q0 d- 32.99 6.50 21.77 4.08 4.14 0 7385.92 01:22:18 m : AshtechGps::processRecord() - $GPGGA,160437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160436.50,3648.8297,N,-12158.0799,W,1,03,00.5,023.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160437.50,3648.8295,N,-12158.0803,W,1,03,00.5,024.0,M,-99.9,M,,*4e : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 72.9&ä$´.72 18.94 4.05 4.32 0 10671.54 01:22:20`m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160438.50,3648.8293,N,-12158.0806,W,1,03,00.5,024.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160439.50,3648.8291,N,-12158.0810,W,1,03,00.5,024.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4074715.30, 592046.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160440.50,3648.8288,N,-12158.0813,W,1,03,00.5,024.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 250.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 250.00 : 43.00 : Estimated East Bias at time = 250.00 : 48.00 : Estimated Depth Bias at time = 250.00 : -16.26 : Estimated northing and easting = 4074758.30 : 592094.38 : AshtechGps::processRecord() - $GPGGA,160442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160441.50,3648.8284,N,-12158.0816,W,1,03,00.5,024.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160442.50,3648.8280,N,-12158.0818,W,1,03,00.5,024.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160443.50,3648.8275,N,-12158.0819,W,1,03,00.5,024.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160444.50,3648.8270,N,-12158.0820,W,1,03,00.5,024.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160445.50,3648.8265,N,-12158.0821,W,1,03,00.5,025.2,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 32.95 7.26 21.67 4.05 4.12 0 7385.21 01:22:28 m : AshtechGps::processRecord() - $GPGGA,160447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160446.50,3648.8260,N,-12158.0821,W,1,03,00.5,025.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160447.50,3648.8254,N,-12158.0821,W,1,03,00.5,025.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q° d- 32.75 4.16 18.84 4.05 4.12 0 10671.19 01:22:30 m : AshtechGps::processRecord() - $GPGGA,160449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160448.50,3648.8248,N,-12158.0821,W,1,03,00.5,025.8,M,-99.9,M,,*4f : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160449.50,3648.8241,N,-12158.0822,W,1,03,00.5,026.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4074705.74, 592044.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160450.50,3648.8234,N,-12158.0822,W,1,03,00.5,026.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 260.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 260.00 : 43.00 : Estimated East Bias at time = 260.00 : 48.00 : Estimated Depth Bias at time = 260.00 : -16.26 : Estimated northing and easting = 4074748.74 : 592092.95 : AshtechGps::processRecord() - $GPGGA,160452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160451.50,3648.8228,N,-12158.0823,W,1,03,00.5,026.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160452.50,3648.8221,N,-12158.0824,W,1,03,00.5,026.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160453.50,3648.8214,N,-12158.0826,W,1,03,00.5,026.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160454.50,3648.8207,N,-12158.0828,W,1,03,00.5,026.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160455.50,3648.8200,N,-12158.0831,W,1,03,00.5,026.6,M,-99.9,M,,*43 : BluefinBatt Reply: $b3q0 d- 32.99 6.42 21.77 4.05 4.12 0 7384.72 01:22:38 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160456.50,3648.8193,N,-12158.0834,W,1,03,00.5,026.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160457.49,3648.8186,N,-12158.0837,W,1,03,00.5,026.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.79 4.26 18.84$4.05 4.12 0 10670.71 11:22:40 m : AshtechGps::processRecord() - $GPGGA,160459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160458.49,3648.8179,N,-12158.0840,W,1,03,00.5,026.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160459.49,3648.8172,N,-12158.0844,W,1,03,00.5,026.6,M,-99.9,M,,*43 : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074692.84, 592041.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160500.49,3648.8165,N,-12158.0848,W,1,03,00.5,026.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 270.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 270.00 : 44.00 : Estimated East Bias at time = 270.00 : 48.00 : Estimated Depth Bias at time = 270.00 : -16.18 : Estimated northing and easting = 4074736.84 : 592089.43 : AshtechGps::processRecord() - $GPGGA,160502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160501.49,3648.8158,N,-12158.0853,W,1,03,00.5,026.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160502.49,3648.8151,N,-12158.0858,W,1,03,00.5,026.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160503.49,3648.8144,N,-12158.0863,W,1,03,00.5,026.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160504.49,3648.8138,N,-12158.0868,W,1,03,00.5,026.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160505.49,3648.8131,N,-12158.0873,W,1,03,00.5,026.5,M,-99.9,M,,*4b : BluefinBatt Reply: $b3q0 d- 33.03 6.04 21.67 4.05 4.12 0 7384.09 01:22:48 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160506.49,3648.8125,N,-12158.0879,W,1,03,00.5,026.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160507.49,3648.8119,N,-12158.0885,W,1,03,00.5,026.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.83 3.81 18.84 4.05 4.1² 0 10670.3= 01:22:50 m : AshtechGps::processRecord() - $GPGGA,160509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160508.49,3648.8113,N,-12158.0891,W,1,03,00.5,026.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160509.49,3648.8107,N,-12158.0897,W,1,03,00.5,026.4,M,-99.9,M,,*49 : TerrainNav update at nav time = 280.000819 : TerrainNav update at dvl time = 280.000819 : _navData-> (x,y) = (4074680.93, 592033.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160510.49,3648.8101,N,-12158.0903,W,1,03,00.5,026.8,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 280.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160511.49,3648.8096,N,-12158.0910,W,1,03,00.5,026.5,M,-99.9,M,,*46 : Estimated North Bias at time = 280.00 : 44.00 : Estimated East Bias at time = 280.00 : 48.00 : Estimated Depth Bias at time = 280.00 : -16.18 : Estimated northing and easting = 4074724.93 : 592081.51 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160512.49,3648.8090,N,-12158.0917,W,1,03,00.5,026.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160513.49,3648.8085,N,-12158.0924,W,1,03,00.5,026.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160514.49,3648.8080,N,-12158.0931,W,1,03,00.5,026.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160515.49,3648.8075,N,-12158.0939,W,1,03,00.5,026.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 33.03 5.85 21.58 4.05 4.12 0 7383.62 01:22:58 m : AshtechGps::processRecord() - $GPGGA,160517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160516.49,3648.8070,N,-12158.0947,W,1,03,00.5,026.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160517.49,3648.8065,N,-12158.0954,W,1,03,00.5,026.6,M,-99.9,M,,*4f : BluefinBatt Reply: $b4q0 d- 36.83 3.70 18.75 4.05 4.12 0 10669n96 01:23:00 m : AshtechGps::processRecord() - $GPGGA,160519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160518.49,3648.8060,N,-12158.0962,W,1,03,00.5,026.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160519.49,3648.8056,N,-12158.0970,W,1,03,00.5,026.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4074671.45, 592022.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160520.49,3648.8051,N,-12158.0978,W,1,03,00.5,026.7,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160521.49,3648.8047,N,-12158.0986,W,1,03,00.5,026.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 290.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 290.00 : 44.00 : Estimated East Bias at time = 290.00 : 48.00 : Estimated Depth Bias at time = 290.00 : -16.18 : Estimated northing and easting = 4074715.45 : 592070.55 : AshtechGps::processRecord() - $GPGGA,160523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160522.49,3648.8043,N,-12158.0994,W,1,03,00.5,026.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160523.49,3648.8039,N,-12158.1002,W,1,03,00.5,026.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160524.49,3648.8035,N,-12158.1011,W,1,03,00.5,026.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160525.49,3648.8032,N,-12158.1019,W,1,03,00.5,026.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.99 6.04 21.58 4.05 4.12 0 7382.97 01:23:08 m : AshtechGps::processRecord() - $GPGGA,160527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160526.49,3648.8028,N,-12158.1027,W,1,03,00.5,026.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160527.49,3648.8024,N,-12158.1036,W,1,03,00.5,026.6,M,-99.9,M,,*45 : BluefinBatt Reply: $b4q0 d- 32.75 3.67 18.84 4.15 4.12 0 10669.65 01:23:30 m : AshtechGps::processRecord() - $GPGGA,160529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160528.49,3648.8020,N,-12158.1044,W,1,03,00.5,026.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.100000 : AshtechGps::processRecord() - $GPGGA,160530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160529.49,3648.8016,N,-12158.1053,W,1,03,00.5,026.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074664.12, 592010.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160530.49,3648.8013,N,-12158.1062,W,1,03,00.5,026.6,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 300.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 300.00 : 44.00 : Estimated East Bias at time = 300.00 : 47.00 : Estimated Depth Bias at time = 300.00 : -16.10 : Estimated northing and easting = 4074708.12 : 592057.25 : NMEA Update: $GPGGA,160531.49,3648.8009,N,-12158.1071,W,1,03,00.5,026.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160532.49,3648.8005,N,-12158.1080,W,1,03,00.5,026.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160533.49,3648.8002,N,-12158.1088,W,1,03,00.5,026.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160534.49,3648.7998,N,-12158.1097,W,1,03,00.5,026.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160535.49,3648.7995,N,-12158.1106,W,1,03,00.5,027.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.99 5.89 21.58 4.05 4.12 0 7382.58 01:23:18 m : AshtechGps::processRecord() - $GPGGA,160537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160536.49,3648.7991,N,-12158.1114,W,1,03,00.5,027.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160537.49,3648.7988,N,-12158.1123,W,1,03,00.5,026.7,M,-99.9,M,,*40 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.75 4.02 q<.75 4.05 4.1™ 0 10669.21`01:23:r0 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160538.49,3648.7984,N,-12158.1132,W,1,03,00.5,026.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160539.49,3648.7980,N,-12158.1141,W,1,03,00.5,026.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4074657.34, 591997.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160540.49,3648.7977,N,-12158.1149,W,1,03,00.5,026.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 310.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160541.49,3648.7973,N,-12158.1158,W,1,03,00.5,026.6,M,-99.9,M,,*48 : Estimated North Bias at time = 310.00 : 44.00 : Estimated East Bias at time = 310.00 : 47.00 : Estimated Depth Bias at time = 310.00 : -16.10 : Estimated northing and easting = 4074701.34 : 592044.32 : AshtechGps::processRecord() - $GPGGA,160543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160542.49,3648.7969,N,-12158.1167,W,1,03,00.5,026.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160543.49,3648.7965,N,-12158.1175,W,1,03,00.5,027.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160544.49,3648.7961,N,-12158.1184,W,1,03,00.5,027.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160545.49,3648.7958,N,-12158.1193,W,1,03,00.5,027.0,M,-99.9,M,,*45 : BluefinBatt Reply: $b3q0 d- 32.99 5.58 21.58 4.05 4.12 0 7381.91 01:23:28 m : AshtechGps::processRecord() - $GPGGA,160547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160546.49,3648.7954,N,-12158.1201,W,1,03,00.5,026.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160547.49,3648.7950,N,-12158.1210,W,1,03,00.5,026.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.79 &éºþ18.84 4.05 4.92 0 10668.93 01:23:30 m : AshtechGps::processRecord() - $GPGGA,160549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160548.49,3648.7946,N,-12158.1218,W,1,03,00.5,026.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160549.49,3648.7942,N,-12158.1226,W,1,03,00.5,027.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4074650.05, 591984.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160550.49,3648.7938,N,-12158.1235,W,1,03,00.5,027.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160551.49,3648.7934,N,-12158.1244,W,1,03,00.5,027.0,M,-99.9,M,,*43 : TerrainNav:: Measurement successfully incorporated from time = 320.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 320.00 : 44.00 : Estimated East Bias at time = 320.00 : 47.00 : Estimated Depth Bias at time = 320.00 : -16.10 : Estimated northing and easting = 4074694.05 : 592031.66 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160552.49,3648.7929,N,-12158.1252,W,1,03,00.5,026.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160553.49,3648.7925,N,-12158.1261,W,1,03,00.5,026.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160554.49,3648.7920,N,-12158.1269,W,1,03,00.5,026.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160555.49,3648.7916,N,-12158.1278,W,1,03,00.5,027.0,M,-99.9,M,,*48 : BluefinBatt Reply: $b3q0 d- 33.03 5.36 21.48 4.05 4.12 0 7381.50 01:23:38 m : AshtechGps::processRecord() - $GPGGA,160557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160556.49,3648.7912,N,-12158.1286,W,1,03,00.5,026.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160557.49,3648.7908,N,-12158.1294,W,1,03,00.5,026.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.71 4.23 18.v5 4.05 4.13 1 10¶68.48 p1:63:40 m Š : AshtechGps::processRecord() - $GPGGA,160559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160558.49,3648.7904,N,-12158.1303,W,1,03,00.5,027.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160559.49,3648.7899,N,-12158.1311,W,1,03,00.5,027.0,M,-99.9,M,,*4c : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074642.03, 591972.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160600.49,3648.7895,N,-12158.1319,W,1,03,00.5,027.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 330.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160601.49,3648.7891,N,-12158.1327,W,1,03,00.5,026.8,M,-99.9,M,,*46 : Estimated North Bias at time = 330.00 : 44.00 : Estimated East Bias at time = 330.00 : 46.00 : Estimated Depth Bias at time = 330.00 : -16.04 : Estimated northing and easting = 4074686.03 : 592018.23 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160602.49,3648.7886,N,-12158.1335,W,1,03,00.5,027.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160603.49,3648.7882,N,-12158.1344,W,1,03,00.5,026.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160604.49,3648.7877,N,-12158.1352,W,1,03,00.5,026.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160605.49,3648.7872,N,-12158.1360,W,1,03,00.5,026.8,M,-99.9,M,,*4c : BluefinBatt Reply: $b3q0 d- 32.99 5.74 21.48 4.05 4.12 0 7380.85 01:23:48 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160606.49,3648.7868,N,-12158.1369,W,1,03,00.5,026.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160607.49,3648.7863,N,-12158.1377,W,1,03,00.5,027.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.83  3.74 18.65 4®05!4.13 0 1p668.16 21:23:50 m : AshtechGps::processRecord() - $GPGGA,160609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160608.49,3648.7858,N,-12158.1385,W,1,03,00.5,027.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160609.49,3648.7853,N,-12158.1394,W,1,03,00.5,027.0,M,-99.9,M,,*41 : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4074633.30, 591959.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160610.49,3648.7849,N,-12158.1402,W,1,03,00.5,026.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav:: Measurement successfully incorporated from time = 340.00 sec. : NMEA Update: $GPGGA,160611.49,3648.7844,N,-12158.1410,W,1,03,00.5,026.8,M,-99.9,M,,*4c : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 340.00 : 44.00 : Estimated East Bias at time = 340.00 : 46.00 : Estimated Depth Bias at time = 340.00 : -16.04 : Estimated northing and easting = 4074677.30 : 592005.99 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160612.49,3648.7839,N,-12158.1418,W,1,03,00.5,027.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160613.49,3648.7835,N,-12158.1426,W,1,03,00.5,026.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160614.49,3648.7830,N,-12158.1434,W,1,03,00.5,026.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160615.49,3648.7825,N,-12158.1441,W,1,03,00.5,026.7,M,-99.9,M,,*44 : BluefinBatt Reply: $b3q0 d- 32.95 6.19 21.38 4.05 4.12 0 7380.44 01:23:58 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160616.49,3648.7821,N,-12158.1449,W,1,03,00.5,027.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160617.49,3648.7816,N,-12158.1457,W,1,03,00.5,026.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 t- 32.79 3.88 98.6= 4.05 4.13"0 10667.73 01:24:00 m : AshtechGps::processRecord() - $GPGGA,160619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160618.49,3648.7811,N,-12158.1466,W,1,03,00.5,026.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160619.49,3648.7806,N,-12158.1474,W,1,03,00.5,027.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4074624.37, 591948.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160620.49,3648.7801,N,-12158.1482,W,1,03,00.5,027.0,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 350.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160621.49,3648.7796,N,-12158.1491,W,1,03,00.5,026.8,M,-99.9,M,,*46 : Estimated North Bias at time = 350.00 : 44.00 : Estimated East Bias at time = 350.00 : 46.00 : Estimated Depth Bias at time = 350.00 : -16.04 : Estimated northing and easting = 4074668.37 : 591994.16 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160622.49,3648.7791,N,-12158.1499,W,1,03,00.5,027.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160623.49,3648.7786,N,-12158.1507,W,1,03,00.5,026.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160624.49,3648.7781,N,-12158.1515,W,1,03,00.5,027.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160625.49,3648.7777,N,-12158.1523,W,1,03,00.5,026.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.99 5.28 21.38 4.05 4.12 0 7379.84 01:24:08 m : AshtechGps::processRecord() - $GPGGA,160627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160626.49,3648.7772,N,-12158.1531,W,1,03,00.5,027.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160627.49,3648.7768,N,-12158.1539,W,1,03,00.5,026.9,M,-99.9,M,,*43 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.·5 4/12 18.75 4.05 4.13 0 1°667.41"¸1:24:10 mM : AshtechGps::processRecord() - $GPGGA,160629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160628.49,3648.7763,N,-12158.1547,W,1,03,00.5,027.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160629.49,3648.7759,N,-12158.1554,W,1,03,00.5,027.0,M,-99.9,M,,*4c : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074615.63, 591936.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160630.49,3648.7754,N,-12158.1562,W,1,03,00.5,026.8,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160631.49,3648.7750,N,-12158.1570,W,1,03,00.5,027.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 360.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 360.00 : -23.00 : Estimated East Bias at time = 360.00 : -32.00 : Estimated Depth Bias at time = 360.00 : -10.13 : Estimated northing and easting = 4074592.63 : 591904.35 : AshtechGps::processRecord() - $GPGGA,160633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160632.49,3648.7745,N,-12158.1578,W,1,03,00.5,027.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160633.49,3648.7740,N,-12158.1586,W,1,03,00.5,027.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160634.49,3648.7735,N,-12158.1595,W,1,03,00.5,026.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160635.49,3648.7731,N,-12158.1603,W,1,03,00.5,026.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.95 5.85 21.28 4.05 4.12 0 7379.41 01:24:18 m : AshtechGps::processRecord() - $GPGGA,160637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160636.49,3648.7726,N,-12158.1612,W,1,03,00.5,026.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160637.50,3648.7721,N,-12158.1620,W,1,03,00.5,027.1,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.75 3.81 18.55 4.04(4.1200 10666.95(01:24>20 m : AshtechGps::processRecord() - $GPGGA,160639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160638.50,3648.7717,N,-12158.1628,W,1,03,00.5,026.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160639.50,3648.7712,N,-12158.1636,W,1,03,00.5,027.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4074606.92, 591924.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160640.50,3648.7708,N,-12158.1644,W,1,03,00.5,027.0,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 369.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160641.50,3648.7704,N,-12158.1652,W,1,03,00.5,027.1,M,-99.9,M,,*46 : Estimated North Bias at time = 369.99 : -17.00 : Estimated East Bias at time = 369.99 : -18.00 : Estimated Depth Bias at time = 369.99 : -9.81 : Estimated northing and easting = 4074589.92 : 591906.27 : AshtechGps::processRecord() - $GPGGA,160643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160642.50,3648.7699,N,-12158.1660,W,1,03,00.5,026.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160643.50,3648.7695,N,-12158.1667,W,1,03,00.5,026.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160644.50,3648.7690,N,-12158.1675,W,1,03,00.5,026.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160645.50,3648.7686,N,-12158.1683,W,1,03,00.5,026.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.95 5.93 21.28 4.04 4.11 0 7378.81 01:24:28 m : AshtechGps::processRecord() - $GPGGA,160647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160646.50,3648.7681,N,-12158.1691,W,1,03,00.5,027.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160647.50,3648.7676,N,-12158.1700,W,1,03,00.5,027.0,M,-99.9,M,,*43 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d/ 32.75 4.16`18.45 4.04 4.12 0 10666.67 01:24:30 m Š : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160648.50,3648.7672,N,-12158.1708,W,1,03,00.5,027.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160649.50,3648.7667,N,-12158.1716,W,1,03,00.5,026.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 379.993969 : TerrainNav update at dvl time = 379.993969 : _navData-> (x,y) = (4074598.33, 591912.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160650.50,3648.7662,N,-12158.1724,W,1,03,00.5,026.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160651.50,3648.7658,N,-12158.1733,W,1,03,00.5,027.0,M,-99.9,M,,*48 : TerrainNav:: Measurement successfully incorporated from time = 379.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 379.99 : 44.00 : Estimated East Bias at time = 379.99 : 46.00 : Estimated Depth Bias at time = 379.99 : -16.04 : Estimated northing and easting = 4074642.33 : 591958.42 : AshtechGps::processRecord() - $GPGGA,160653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160652.50,3648.7653,N,-12158.1741,W,1,03,00.5,027.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160653.50,3648.7649,N,-12158.1749,W,1,03,00.5,027.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160654.50,3648.7644,N,-12158.1757,W,1,03,00.5,027.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160655.50,3648.7640,N,-12158.1765,W,1,03,00.5,027.0,M,-99.9,M,,*46 : BluefinBatt Reply: $b3q0 d- 32.99 5.32 21.19 4.04 4.11 0 7378.37 01:24:38 m : AshtechGps::processRecord() - $GPGGA,160657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160656.50,3648.7635,N,-12158.1773,W,1,03,00.5,027.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160657.50,3648.7631,N,-12158.1781,W,1,03,00.5,027.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.7= 3.77 18.65 4.04 4.12 0 10666.20 01:24:40 m : AshtechGps::processRecord() - $GPGGA,160659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160658.50,3648.7626,N,-12158.1789,W,1,03,00.5,027.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160659.50,3648.7622,N,-12158.1797,W,1,03,00.5,026.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074589.91, 591900.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160700.50,3648.7617,N,-12158.1805,W,1,03,00.5,026.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 389.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,160702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160701.50,3648.7613,N,-12158.1813,W,1,03,00.5,027.0,M,-99.9,M,,*4e : Estimated North Bias at time = 389.99 : 44.00 : Estimated East Bias at time = 389.99 : 45.00 : Estimated Depth Bias at time = 389.99 : -16.01 : Estimated northing and easting = 4074633.91 : 591945.57 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160702.50,3648.7608,N,-12158.1821,W,1,03,00.5,027.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160703.50,3648.7604,N,-12158.1830,W,1,03,00.5,027.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160704.50,3648.7599,N,-12158.1838,W,1,03,00.5,027.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160705.50,3648.7595,N,-12158.1846,W,1,03,00.5,026.8,M,-99.9,M,,*4e : BluefinBatt Reply: $b3q0 d- 32.95 5.82 21.19 4.04 4.11 0 7377.75 01:24:48 m : AshtechGps::processRecord() - $GPGGA,160707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160706.50,3648.7590,N,-12158.1854,W,1,03,00.5,027.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160707.50,3648.7586,N,-12158.1863,W,1,03,00.5,027.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.71 3.91 18.55 4.04 4.12 0 10665>93(01:24º50 m : AshtechGps::processRecord() - $GPGGA,160709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160708.50,3648.7581,N,-12158.1871,W,1,03,00.5,027.1,M,-99.9,M,,*4a : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.040000 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160709.50,3648.7577,N,-12158.1879,W,1,03,00.5,026.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4074581.50, 591888.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160710.50,3648.7573,N,-12158.1887,W,1,03,00.5,026.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160711.50,3648.7568,N,-12158.1895,W,1,03,00.5,026.7,M,-99.9,M,,*48 : TerrainNav:: Measurement successfully incorporated from time = 400.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 400.00 : -34.00 : Estimated East Bias at time = 400.00 : -44.00 : Estimated Depth Bias at time = 400.00 : -6.05 : Estimated northing and easting = 4074547.50 : 591844.45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160712.50,3648.7564,N,-12158.1903,W,1,03,00.5,026.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160713.50,3648.7559,N,-12158.1911,W,1,03,00.5,027.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160714.50,3648.7555,N,-12158.1919,W,1,03,00.5,027.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160715.50,3648.7550,N,-12158.1927,W,1,03,00.5,027.1,M,-99.9,M,,*48 : BluefinBatt Reply: $b3q0 d- 32.95 5.82 21.19 4.04 4.11 0 7377.31 01:24:58 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160716.50,3648.7546,N,-12158.1935,W,1,03,00.5,027.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160717.50,3648.7541,N,-12158.1944,W,1,03,00.5,026.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d­ 32.79 3.81 18.45 4.05`4.12 0 10665.46 01:25:00 mC… : AshtechGps::processRecord() - $GPGGA,160719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160718.50,3648.7537,N,-12158.1952,W,1,03,00.5,026.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160719.50,3648.7532,N,-12158.1960,W,1,03,00.5,027.0,M,-99.9,M,,*42 : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4074573.04, 591876.41) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160720.50,3648.7528,N,-12158.1969,W,1,03,00.5,027.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav:: Measurement successfully incorporated from time = 410.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,160721.50,3648.7523,N,-12158.1977,W,1,03,00.5,026.8,M,-99.9,M,,*46 : Estimated North Bias at time = 410.00 : -34.00 : Estimated East Bias at time = 410.00 : -44.00 : Estimated Depth Bias at time = 410.00 : -5.87 : Estimated northing and easting = 4074539.04 : 591832.41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160722.50,3648.7519,N,-12158.1985,W,1,03,00.5,027.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160723.49,3648.7514,N,-12158.1993,W,1,03,00.5,027.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160724.49,3648.7509,N,-12158.2001,W,1,03,00.5,027.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160725.49,3648.7505,N,-12158.2009,W,1,03,00.5,026.8,M,-99.9,M,,*4d : BluefinBatt Reply: $b3q0 d- 32.95 5.70 21.09 4.05 4.12 0 7376.67 01:25:08 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160726.49,3648.7500,N,-12158.2018,W,1,03,00.5,026.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160727.49,3648.7496,N,-12158.2026,W,1,03,00.5,026.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.79 3.63 18.45 4.05 4.12 0 10665.14 01:25:10 m : AshtechGps::processRecord() - $GPGGA,160729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160728.49,3648.7491,N,-12158.2034,W,1,03,00.5,027.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160729.49,3648.7487,N,-12158.2042,W,1,03,00.5,027.4,M,-99.9,M,,*48 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074564.55, 591864.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160730.49,3648.7482,N,-12158.2050,W,1,03,00.5,027.1,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,160732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160731.49,3648.7478,N,-12158.2058,W,1,03,00.5,027.0,M,-99.9,M,,*4e : TerrainNav:: Measurement successfully incorporated from time = 420.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.10 speedMode=1 speed=1.50 : Estimated North Bias at time = 420.00 : -34.00 : Estimated East Bias at time = 420.00 : -44.00 : Estimated Depth Bias at time = 420.00 : -5.72 : Estimated northing and easting = 4074530.55 : 591820.41 : Waypoint has set the state to finished. : Waypoint (4074562.9, 591862.1), reached at t = 469.20 (wplog) : Vehicle Position is error is (0.0, 0.0) : LayeredControl::execute() -- (t = 469.197858) Behavior waypoint:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 469.20 (wplog) The current location (N,E) = 4074562.9 , 591862.0 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 270.0 Degrees. : WaypointHoming: The Usbl has aquired the transponder at t = 469.20 Seconds. : The vehicle position is (4074562.9, 591862.0) : LayeredControl::execute() -- (t = 469.207857) Behavior waypoint_homing:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,160733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160732.49,3648.7474,N,-12158.2066,W,1,03,00.5,026.8,M,-99.9,M,,*45 : WaypointHoming has set the state to finished. : WaypointHoming (4074267.9, 591785.8), reached at t = 470.20 (wplog) : Vehicle Position error is (-294.2, -75.0) : The distance to the waypoint is 75.0. : LayeredControl::execute() -- (t = 470.197789) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 470.21 (wplog) The current location (N,E) = 4074562.1 , 591860.8 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 270.2 Degrees. : WaypointHoming: The Usbl has aquired the transponder at t = 470.21 Seconds. : The vehicle position is (4074562.1, 591860.8) : LayeredControl::execute() -- (t = 470.207788) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160733.49,3648.7469,N,-12158.2074,W,1,03,00.5,026.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160734.49,3648.7465,N,-12158.2082,W,1,03,00.5,027.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160735.49,3648.7461,N,-12158.2091,W,1,03,00.5,026.9,M,-99.9,M,,*4f : WaypointHoming: The Usbl does NOT detect the transponder at t = 472.60 Seconds. : The vehicle position is is (4074560.2, 591857.9) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.07 3.57 20.99 4.05 4.12 0 7376.27 01:25:18 m : AshtechGps::processRecord() - $GPGGA,160737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160736.49,3648.7457,N,-12158.2099,W,1,03,00.5,026.9,M,-99.9,M,,*41 : WaypointHoming: The Usbl has aquired the transponder at t = 474.00 Seconds. : The vehicle position is (4074559.3, 591856.2) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160737.49,3648.7454,N,-12158.2107,W,1,03,00.5,026.8,M,-99.9,M,,*44 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.83 2.41 18.45 4.0= 4.13 0 10664.74 01:25:20 m : AshtechGps::processRecord() - $GPGGA,160739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160738.49,3648.7451,N,-12158.2115,W,1,03,00.5,027.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160739.49,3648.7448,N,-12158.2123,W,1,03,00.5,027.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4074557.43, 591852.48) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160740.49,3648.7445,N,-12158.2130,W,1,03,00.5,026.9,M,-99.9,M,,*41 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 430.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 430.00 : -33.00 : Estimated East Bias at time = 430.00 : -44.00 : Estimated Depth Bias at time = 430.00 : -5.62 : Estimated northing and easting = 4074524.43 : 591808.48 : AshtechGps::processRecord() - $GPGGA,160742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160741.49,3648.7442,N,-12158.2137,W,1,03,00.5,026.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160742.49,3648.7439,N,-12158.2143,W,1,03,00.5,026.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160743.49,3648.7436,N,-12158.2149,W,1,03,00.5,026.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160744.49,3648.7432,N,-12158.2153,W,1,03,00.5,027.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160745.49,3648.7428,N,-12158.2157,W,1,03,00.5,027.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.53 20.99 4.05 4.12 0 7375.88 01:25:28 m : WaypointHoming: The Usbl does NOT detect the transponder at t = 483.40 Seconds. : The vehicle position is is (4074553.4, 591847.6) : AshtechGps::processRecord() - $GPGGA,160747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160746.49,3648.7424,N,-12158.2161,W,1,03,00.5,027.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160747.49,3648.7420,N,-12158.2163,W,1,03,00.5,026.8,M,-99.9,M,,*42 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.86 1.7< 18.45 4.05 4.13 0 10664.61 03:25:30 m : AshtechGps::processRecord() - $GPGGA,160749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160748.49,3648.7416,N,-12158.2165,W,1,03,00.5,027.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160749.49,3648.7411,N,-12158.2167,W,1,03,00.5,026.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 439.999858 : TerrainNav update at dvl time = 439.999858 : _navData-> (x,y) = (4074550.33, 591846.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160750.49,3648.7406,N,-12158.2168,W,1,03,00.5,026.9,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 26.2612 : TerrainNav:: Measurement successfully incorporated from time = 440.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 440.00 : -33.00 : Estimated East Bias at time = 440.00 : -43.00 : Estimated Depth Bias at time = 440.00 : -5.54 : Estimated northing and easting = 4074517.33 : 591803.61 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160751.49,3648.7402,N,-12158.2168,W,1,03,00.5,027.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160752.49,3648.7397,N,-12158.2168,W,1,03,00.5,027.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160753.49,3648.7393,N,-12158.2168,W,1,03,00.5,027.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160754.49,3648.7388,N,-12158.2168,W,1,03,00.5,027.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160755.49,3648.7384,N,-12158.2167,W,1,03,00.5,027.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.57 20.99 4.05 4.12 0 7375.61 01:25:38 m : AshtechGps::processRecord() - $GPGGA,160757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160756.49,3648.7380,N,-12158.2166,W,1,03,00.5,027.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160757.49,3648.7376,N,-12158.2164,W,1,03,00.5,027.5,M,-99.9,M,,*4c : BluefinBatt Reply: $b4q0 d- 32.83 2.93 18.35 4.05 4.13 0 10664.29 01;25:40 m : WaypointHoming: The Usbl has aquired the transponder at t = 495.20 Seconds. : The vehicle position is (4074543.8, 591847.3) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160758.49,3648.7371,N,-12158.2163,W,1,03,00.5,027.6,M,-99.9,M,,*40 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160759.49,3648.7367,N,-12158.2161,W,1,03,00.5,027.6,M,-99.9,M,,*44 : WaypointHoming: The Usbl does NOT detect the transponder at t = 496.60 Seconds. : The vehicle position is is (4074542.7, 591847.6) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074542.27, 591847.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160800.49,3648.7363,N,-12158.2160,W,1,03,00.5,027.7,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 28.7811 : TerrainNav:: Measurement successfully incorporated from time = 450.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 450.00 : -41.00 : Estimated East Bias at time = 450.00 : 20.00 : Estimated Depth Bias at time = 450.00 : -5.39 : Estimated northing and easting = 4074501.27 : 591867.71 : AshtechGps::processRecord() - $GPGGA,160802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160801.49,3648.7359,N,-12158.2159,W,1,03,00.5,027.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160802.49,3648.7354,N,-12158.2157,W,1,03,00.5,027.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160803.49,3648.7349,N,-12158.2156,W,1,03,00.5,027.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160804.49,3648.7345,N,-12158.2155,W,1,03,00.5,027.5,M,-99.9,M,,*47 : WaypointHoming: The Usbl has aquired the transponder at t = 501.60 Seconds. : The vehicle position is (4074538.6, 591848.5) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160805.49,3648.7340,N,-12158.2154,W,1,03,00.5,027.6,M,-99.9,M,,*41 : BluefinBatt Reply: $b3q0 d- 33.03 4.07 20.99 4.05 4.12 0 7375.21 01:25:48 m : AshtechGps::processRecord() - $GPGGA,160807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160806.49,3648.7335,N,-12158.2154,W,1,03,00.5,027.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160807.49,3648.7330,N,-12158.2153,W,1,03,00.5,027.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.83 2.86 18.65 4.05 4.13 0 10664.09 01:25:50 m : AshtechGps::processRecord() - $GPGGA,160809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160808.49,3648.7325,N,-12158.2152,W,1,03,00.5,027.2,M,-99.9,M,,*4d : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160809.49,3648.7320,N,-12158.2151,W,1,03,00.5,027.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 459.998488 : TerrainNav update at dvl time = 459.998488 : _navData-> (x,y) = (4074533.43, 591849.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160810.49,3648.7315,N,-12158.2150,W,1,03,00.5,027.0,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 26.5187 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 460.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 460.00 : -41.00 : Estimated East Bias at time = 460.00 : 20.00 : Estimated Depth Bias at time = 460.00 : -5.36 : Estimated northing and easting = 4074492.43 : 591869.26 : AshtechGps::processRecord() - $GPGGA,160812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160811.49,3648.7310,N,-12158.2149,W,1,03,00.5,027.3,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 509.20 Seconds. : The vehicle position is is (4074531.7, 591849.6) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160812.49,3648.7305,N,-12158.2148,W,1,03,00.5,027.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160813.49,3648.7300,N,-12158.2147,W,1,03,00.5,027.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160814.49,3648.7296,N,-12158.2146,W,1,03,00.5,027.0,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 511.79 Seconds. : The vehicle position is (4074529.4, 591850.1) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160815.49,3648.7291,N,-12158.2144,W,1,03,00.5,027.1,M,-99.9,M,,*4b : BluefinBatt Reply: $b3q0 d- 33.03 3.99 20.80 4.05 4.12 0 7374.94 01:25:58 m : WaypointHoming: The Usbl does NOT detect the transponder at t = 513.19 Seconds. : The vehicle position is is (4074528.2, 591850.4) : AshtechGps::processRecord() - $GPGGA,160817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160816.49,3648.7286,N,-12158.2143,W,1,03,00.5,026.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160817.49,3648.7281,N,-12158.2142,W,1,03,00.5,026.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.86 2.51 18.45(4.05 4.53 0 10663.79 01:26:00 m : AshtechGps::processRecord() - $GPGGA,160819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160818.49,3648.7276,N,-12158.2141,W,1,03,00.5,026.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160819.49,3648.7271,N,-12158.2140,W,1,03,00.5,026.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4074524.42, 591851.09) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 517.19 Seconds. : The vehicle position is (4074524.4, 591851.1) : AshtechGps::processRecord() - $GPGGA,160821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160820.49,3648.7266,N,-12158.2139,W,1,03,00.5,026.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 37.9247 : TerrainNav:: Measurement successfully incorporated from time = 470.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 470.00 : -40.00 : Estimated East Bias at time = 470.00 : 21.00 : Estimated Depth Bias at time = 470.00 : -5.33 : Estimated northing and easting = 4074484.42 : 591872.09 : AshtechGps::processRecord() - $GPGGA,160822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160821.49,3648.7261,N,-12158.2138,W,1,03,00.5,026.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160822.49,3648.7255,N,-12158.2137,W,1,03,00.5,027.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160823.49,3648.7250,N,-12158.2136,W,1,03,00.5,027.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 521.19 Seconds. : The vehicle position is is (4074520.5, 591851.6) : AshtechGps::processRecord() - $GPGGA,160825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160824.49,3648.7245,N,-12158.2135,W,1,03,00.5,027.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160825.49,3648.7240,N,-12158.2134,W,1,03,00.5,026.9,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 33.07 3.34 20.80 4.06 4.12 0 7374.53 01:26:08 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160826.49,3648.7235,N,-12158.2133,W,1,03,00.5,026.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160827.49,3648.7230,N,-12158.2132,W,1,03,00.5,026.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 3:/83 2.13 18.35 4.05 4.13 0 ±0663.57 01:26:90 m : AshtechGps::processRecord() - $GPGGA,160829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160828.49,3648.7225,N,-12158.2131,W,1,03,00.5,027.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160829.49,3648.7220,N,-12158.2129,W,1,03,00.5,027.1,M,-99.9,M,,*45 : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074514.97, 591852.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160830.49,3648.7215,N,-12158.2128,W,1,03,00.5,027.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 38.5106 : TerrainNav:: Measurement successfully incorporated from time = 480.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 480.00 : -40.00 : Estimated East Bias at time = 480.00 : 21.00 : Estimated Depth Bias at time = 480.00 : -5.29 : Estimated northing and easting = 4074474.97 : 591873.75 : AshtechGps::processRecord() - $GPGGA,160832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160831.49,3648.7210,N,-12158.2127,W,1,03,00.5,026.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160832.49,3648.7205,N,-12158.2126,W,1,03,00.5,027.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160833.49,3648.7199,N,-12158.2125,W,1,03,00.5,026.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160834.49,3648.7194,N,-12158.2124,W,1,03,00.5,027.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160835.49,3648.7189,N,-12158.2123,W,1,03,00.5,026.8,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 33.03 3.87 20.80 4.06 4.12 0 7374.26 01:26:18 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160836.49,3648.7184,N,-12158.2121,W,1,03,00.5,026.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160837.49,3648.7179,N,-12158.2120,W,1,03,00.5,027.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.79 2.76 18.45 4.05 4.13 0 10663.31 01:26:20$m : AshtechGps::processRecord() - $GPGGA,160839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160838.49,3648.7173,N,-12158.2119,W,1,03,00.5,026.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000 : AshtechGps::processRecord() - $GPGGA,160840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160839.49,3648.7168,N,-12158.2118,W,1,03,00.5,026.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4074505.47, 591854.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160841.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160840.49,3648.7163,N,-12158.2117,W,1,03,00.5,027.1,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 34.3434 : TerrainNav:: Measurement successfully incorporated from time = 490.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 490.00 : -40.00 : Estimated East Bias at time = 490.00 : 21.00 : Estimated Depth Bias at time = 490.00 : -5.22 : Estimated northing and easting = 4074465.47 : 591875.47 : AshtechGps::processRecord() - $GPGGA,160842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160841.49,3648.7158,N,-12158.2116,W,1,03,00.5,026.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160842.49,3648.7153,N,-12158.2115,W,1,03,00.5,026.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160843.49,3648.7148,N,-12158.2114,W,1,03,00.5,026.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160844.49,3648.7143,N,-12158.2113,W,1,03,00.5,026.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160845.49,3648.7138,N,-12158.2111,W,1,03,00.5,026.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.87 20.80 4.05 4.12 0 7373.87 01:26:28 m : AshtechGps::processRecord() - $GPGGA,160847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160846.49,3648.7133,N,-12158.2110,W,1,03,00.5,027.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160847.49,3648.7128,N,-12158.2109,W,1,03,00.5,027.1,M,-99.9,M,,*44 : BluefinBatt Reply: $b4q0,d- 32.86 2.16 18.45 4.05 4.13 0 10663/14 81:26:30 mM : AshtechGps::processRecord() - $GPGGA,160849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160848.49,3648.7122,N,-12158.2108,W,1,03,00.5,026.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160849.49,3648.7117,N,-12158.2107,W,1,03,00.5,027.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4074496.04, 591856.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160850.49,3648.7112,N,-12158.2106,W,1,03,00.5,026.8,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 38.7131 : TerrainNav:: Measurement successfully incorporated from time = 500.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 500.00 : -41.00 : Estimated East Bias at time = 500.00 : 21.00 : Estimated Depth Bias at time = 500.00 : -5.20 : Estimated northing and easting = 4074455.04 : 591877.24 : AshtechGps::processRecord() - $GPGGA,160852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160851.49,3648.7107,N,-12158.2105,W,1,03,00.5,026.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160852.49,3648.7101,N,-12158.2104,W,1,03,00.5,027.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160853.49,3648.7096,N,-12158.2103,W,1,03,00.5,026.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160854.49,3648.7091,N,-12158.2102,W,1,03,00.5,027.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160855.49,3648.7086,N,-12158.2101,W,1,03,00.5,026.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 4.10 20.70 4.05 4.12 0 7373.60 01:26:38 m : AshtechGps::processRecord() - $GPGGA,160857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160856.49,3648.7081,N,-12158.2099,W,1,03,00.5,027.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160857.49,3648.7076,N,-12158.2098,W,1,03,00.5,026.5,M,-99.9,M,,*43 : BluefinBatt Reply: $b4q0 d- 32.86 2.37 18.45 4.05 4.13 0 10662.84 81:26:40 m : AshtechGps::processRecord() - $GPGGA,160859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160858.49,3648.7071,N,-12158.2097,W,1,03,00.5,026.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,160900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160859.49,3648.7066,N,-12158.2096,W,1,03,00.5,027.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074486.50, 591857.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160900.49,3648.7060,N,-12158.2095,W,1,03,00.5,027.0,M,-99.9,M,,*4e : TerrainNav::Minimum Correlation Error: 40.9227 : TerrainNav:: Measurement successfully incorporated from time = 510.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 510.00 : -40.00 : Estimated East Bias at time = 510.00 : 21.00 : Estimated Depth Bias at time = 510.00 : -5.17 : Estimated northing and easting = 4074446.50 : 591878.99 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160901.49,3648.7055,N,-12158.2094,W,1,03,00.5,027.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160902.49,3648.7050,N,-12158.2093,W,1,03,00.5,026.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160903.50,3648.7045,N,-12158.2092,W,1,03,00.5,027.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160904.50,3648.7039,N,-12158.2091,W,1,03,00.5,026.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160905.50,3648.7034,N,-12158.2090,W,1,03,00.5,027.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.99 20.70 4.05 4.12 0 7373.21 01:26:48 m : AshtechGps::processRecord() - $GPGGA,160907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160906.50,3648.7028,N,-12158.2089,W,1,03,00.5,026.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160907.50,3648.7023,N,-12158.2088,W,1,03,00.5,027.0,M,-99.9,M,,*4a : BluefinBatt::sample() - Only parsed 5 from reply $b4q0 d- 32.83 2.27 18.35 4.05 4.13`0 10662.68 01:26:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160908.50,3648.7018,N,-12158.2087,W,1,03,00.5,027.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160909.50,3648.7013,N,-12158.2085,W,1,03,00.5,026.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 519.994378 : TerrainNav update at dvl time = 519.994378 : _navData-> (x,y) = (4074476.79, 591859.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160910.50,3648.7008,N,-12158.2084,W,1,03,00.5,027.1,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 34.9478 : TerrainNav:: Measurement successfully incorporated from time = 519.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 519.99 : -40.00 : Estimated East Bias at time = 519.99 : 21.00 : Estimated Depth Bias at time = 519.99 : -5.14 : Estimated northing and easting = 4074436.79 : 591880.68 : AshtechGps::processRecord() - $GPGGA,160912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160911.50,3648.7003,N,-12158.2083,W,1,03,00.5,026.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160912.50,3648.6998,N,-12158.2082,W,1,03,00.5,027.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160913.50,3648.6993,N,-12158.2081,W,1,03,00.5,026.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160914.50,3648.6988,N,-12158.2079,W,1,03,00.5,027.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160915.50,3648.6982,N,-12158.2078,W,1,03,00.5,026.9,M,-99.9,M,,*4d : BluefinBatt Reply: $b3q0 d- 33.03 3.80 20.70 4.05 4.12 0 7372.93 01:26:58 m : AshtechGps::processRecord() - $GPGGA,160917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160916.50,3648.6977,N,-12158.2077,W,1,03,00.5,027.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160917.50,3648.6972,N,-12158.2076,W,1,03,00.5,027.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 5 from reply $b4q0 d­ 32.83 2.20 18.35 4.05 4.13`0 10662.38 01:27:00 o : AshtechGps::processRecord() - $GPGGA,160919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160918.50,3648.6967,N,-12158.2075,W,1,03,00.5,026.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160919.50,3648.6961,N,-12158.2075,W,1,03,00.5,026.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 529.993693 : TerrainNav update at dvl time = 529.993693 : _navData-> (x,y) = (4074467.22, 591861.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160920.50,3648.6956,N,-12158.2073,W,1,03,00.5,027.2,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 33.5178 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 529.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 529.99 : -41.00 : Estimated East Bias at time = 529.99 : 21.00 : Estimated Depth Bias at time = 529.99 : -5.11 : Estimated northing and easting = 4074426.22 : 591882.39 : AshtechGps::processRecord() - $GPGGA,160922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160921.50,3648.6951,N,-12158.2072,W,1,03,00.5,027.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160922.50,3648.6945,N,-12158.2071,W,1,03,00.5,027.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160923.50,3648.6940,N,-12158.2070,W,1,03,00.5,027.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160925.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160924.50,3648.6935,N,-12158.2069,W,1,03,00.5,027.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160925.50,3648.6930,N,-12158.2067,W,1,03,00.5,027.0,M,-99.9,M,,*41 : BluefinBatt Reply: $b3q0 d- 33.07 3.87 20.70 4.06 4.12 0 7372.51 01:27:08 m : AshtechGps::processRecord() - $GPGGA,160927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160926.50,3648.6925,N,-12158.2066,W,1,03,00.5,027.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160927.50,3648.6920,N,-12158.2065,W,1,03,00.5,026.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.83 2.51 18.35 4.05 4.13 0 10662.14 01:27:10 m : AshtechGps::processRecord() - $GPGGA,160929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160928.50,3648.6915,N,-12158.2064,W,1,03,00.5,027.3,M,-99.9,M,,*4b : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160929.50,3648.6910,N,-12158.2062,W,1,03,00.5,026.9,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 540.003007 : TerrainNav update at dvl time = 540.003007 : _navData-> (x,y) = (4074457.71, 591863.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160930.50,3648.6904,N,-12158.2061,W,1,03,00.5,026.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 30.4356 : TerrainNav:: Measurement successfully incorporated from time = 540.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 540.00 : -41.00 : Estimated East Bias at time = 540.00 : 21.00 : Estimated Depth Bias at time = 540.00 : -5.07 : Estimated northing and easting = 4074416.71 : 591884.30 : AshtechGps::processRecord() - $GPGGA,160932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160931.50,3648.6899,N,-12158.2060,W,1,03,00.5,026.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160932.50,3648.6894,N,-12158.2059,W,1,03,00.5,026.6,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160933.50,3648.6889,N,-12158.2059,W,1,03,00.5,027.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160934.50,3648.6883,N,-12158.2058,W,1,03,00.5,026.9,M,-99.9,M,,*4c : WaypointHoming: The Usbl has aquired the transponder at t = 592.00 Seconds. : The vehicle position is (4074453.0, 591864.0) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160935.50,3648.6878,N,-12158.2057,W,1,03,00.5,026.7,M,-99.9,M,,*48 : BluefinBatt Reply: $b3q0 d- 33.03 4.33 20.60 4.06 4.12 0 7372.21 01:27:18 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160936.50,3648.6872,N,-12158.2056,W,1,03,00.5,026.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160937.50,3648.6867,N,-12158.2055,W,1,03,00.5,027.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.83 2.58 18.35 5.05 4.13 0 10661.87 29:27:20 m : AshtechGps::processRecord() - $GPGGA,160939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160938.50,3648.6862,N,-12158.2054,W,1,03,00.5,027.5,M,-99.9,M,,*4e : batts online 2, min cell voltage 4.060000, mean min cell voltage 4.555000 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160939.50,3648.6857,N,-12158.2052,W,1,03,00.5,027.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4074447.92, 591864.92) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160940.50,3648.6851,N,-12158.2051,W,1,03,00.5,026.9,M,-99.9,M,,*49 : WaypointHoming: The Usbl does NOT detect the transponder at t = 597.60 Seconds. : The vehicle position is is (4074447.5, 591865.0) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 38.3587 : TerrainNav:: Measurement successfully incorporated from time = 550.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 550.00 : -41.00 : Estimated East Bias at time = 550.00 : 21.00 : Estimated Depth Bias at time = 550.00 : -5.07 : Estimated northing and easting = 4074406.92 : 591885.92 : AshtechGps::processRecord() - $GPGGA,160942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160941.50,3648.6846,N,-12158.2050,W,1,03,00.5,026.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160942.50,3648.6841,N,-12158.2048,W,1,03,00.5,026.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160943.50,3648.6836,N,-12158.2047,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160944.50,3648.6832,N,-12158.2046,W,1,03,00.5,027.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160945.50,3648.6827,N,-12158.2045,W,1,03,00.5,027.3,M,-99.9,M,,*43 : BluefinBatt Reply: $b3q0 d- 33.03 4.25 20.60 4.05 4.12 0 7371.82 01:27:28 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160946.50,3648.6821,N,-12158.2044,W,1,03,00.5,026.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160947.50,3648.6816,N,-12158.2043,W,1,03,00.5,026.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.86 2.16 q8.35 4.05 4.13 0!106v1.70 01:27:30 } : AshtechGps::processRecord() - $GPGGA,160949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160948.50,3648.6811,N,-12158.2042,W,1,03,00.5,026.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160949.49,3648.6805,N,-12158.2041,W,1,03,00.5,027.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4074438.40, 591866.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160950.49,3648.6800,N,-12158.2040,W,1,03,00.5,027.3,M,-99.9,M,,*4f : TerrainNav::Minimum Correlation Error: 32.6297 : TerrainNav:: Measurement successfully incorporated from time = 560.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 560.00 : -41.00 : Estimated East Bias at time = 560.00 : 21.00 : Estimated Depth Bias at time = 560.00 : -5.04 : Estimated northing and easting = 4074397.40 : 591887.63 : AshtechGps::processRecord() - $GPGGA,160952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160951.49,3648.6794,N,-12158.2040,W,1,03,00.5,027.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160953.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160952.49,3648.6789,N,-12158.2039,W,1,03,00.5,027.1,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160953.49,3648.6783,N,-12158.2038,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160954.49,3648.6778,N,-12158.2036,W,1,03,00.5,027.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160955.49,3648.6773,N,-12158.2035,W,1,03,00.5,027.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.38 20.60 4.05 4.12 0 7371.52 01:27:38 m : AshtechGps::processRecord() - $GPGGA,160957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160956.49,3648.6768,N,-12158.2034,W,1,03,00.5,027.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160957.49,3648.6763,N,-12158.2032,W,1,03,00.5,026.9,M,-99.9,M,,*4c : BluefinBatt Reply: $b4q0 d- 33.79 2.44 18.35 4.05 4.13 0 10661.3y 01:27:40 m : AshtechGps::processRecord() - $GPGGA,160959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160958.49,3648.6758,N,-12158.2031,W,1,03,00.5,027.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160959.49,3648.6753,N,-12158.2029,W,1,03,00.5,027.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074428.86, 591868.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161000.49,3648.6748,N,-12158.2028,W,1,03,00.5,027.3,M,-99.9,M,,*4f : TerrainNav::Minimum Correlation Error: 39.9578 : TerrainNav:: Measurement successfully incorporated from time = 570.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 570.00 : -41.00 : Estimated East Bias at time = 570.00 : 21.00 : Estimated Depth Bias at time = 570.00 : -5.04 : Estimated northing and easting = 4074387.86 : 591889.52 : AshtechGps::processRecord() - $GPGGA,161002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161001.49,3648.6743,N,-12158.2027,W,1,03,00.5,026.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 619.00 Seconds. : The vehicle position is (4074427.1, 591868.8) : AshtechGps::processRecord() - $GPGGA,161003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161002.49,3648.6738,N,-12158.2026,W,1,03,00.5,026.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161003.49,3648.6732,N,-12158.2025,W,1,03,00.5,026.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161004.49,3648.6727,N,-12158.2025,W,1,03,00.5,027.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161005.49,3648.6721,N,-12158.2024,W,1,03,00.5,027.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.38 20.60 4.05 4.12 0 7371.15 01:27:48 m : WaypointHoming: The Usbl does NOT detect the transponder at t = 623.20 Seconds. : The vehicle position is is (4074422.9, 591869.4) : AshtechGps::processRecord() - $GPGGA,161007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161006.49,3648.6716,N,-12158.2023,W,1,03,00.5,027.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161007.49,3648.6711,N,-12158.2022,W,1,03,00.5,026.9,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.86 2.41 18.35 4n05 4.13 0 10661.²0 01:27:50 m : AshtechGps::processRecord() - $GPGGA,161009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161008.49,3648.6705,N,-12158.2021,W,1,03,00.5,027.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161009.49,3648.6700,N,-12158.2020,W,1,03,00.5,026.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 580.000267 : TerrainNav update at dvl time = 580.000267 : _navData-> (x,y) = (4074419.03, 591870.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161010.49,3648.6695,N,-12158.2018,W,1,03,00.5,027.4,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 30.7081 : TerrainNav:: Measurement successfully incorporated from time = 580.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 580.00 : -40.00 : Estimated East Bias at time = 580.00 : 21.00 : Estimated Depth Bias at time = 580.00 : -5.02 : Estimated northing and easting = 4074379.03 : 591891.08 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161011.49,3648.6690,N,-12158.2017,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161012.49,3648.6685,N,-12158.2016,W,1,03,00.5,027.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161013.49,3648.6680,N,-12158.2015,W,1,03,00.5,027.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161014.49,3648.6674,N,-12158.2013,W,1,03,00.5,027.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161015.49,3648.6669,N,-12158.2012,W,1,03,00.5,026.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.07 3.80 20.50 4.05 4.12 0 7370.85 01:27:58 m : WaypointHoming: The Usbl has aquired the transponder at t = 633.20 Seconds. : The vehicle position is (4074413.4, 591871.2) : AshtechGps::processRecord() - $GPGGA,161017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161016.49,3648.6664,N,-12158.2011,W,1,03,00.5,027.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161017.49,3648.6659,N,-12158.2011,W,1,03,00.5,027.3,M,-99.9,M,,*42 : WaypointHoming: The Usbl does NOT detect the transponder at t = 634.60 Seconds. : The vehicle position is is (4074412.0, 591871.4) : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.83 2.37 1x.35 4.05 4.13 0 1066p.90 01:28:000m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161018.49,3648.6654,N,-12158.2010,W,1,03,00.5,027.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161019.49,3648.6648,N,-12158.2010,W,1,03,00.5,027.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 589.999582 : TerrainNav update at dvl time = 589.999582 : _navData-> (x,y) = (4074409.47, 591871.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161020.49,3648.6643,N,-12158.2010,W,1,03,00.5,027.4,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 32.7946 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 590.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 590.00 : -40.00 : Estimated East Bias at time = 590.00 : 21.00 : Estimated Depth Bias at time = 590.00 : -5.01 : Estimated northing and easting = 4074369.47 : 591892.58 : AshtechGps::processRecord() - $GPGGA,161022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161021.49,3648.6638,N,-12158.2010,W,1,03,00.5,027.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161022.49,3648.6632,N,-12158.2010,W,1,03,00.5,027.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 640.20 Seconds. : The vehicle position is (4074406.5, 591871.5) : AshtechGps::processRecord() - $GPGGA,161024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161023.49,3648.6627,N,-12158.2011,W,1,03,00.5,027.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161024.49,3648.6622,N,-12158.2012,W,1,03,00.5,027.4,M,-99.9,M,,*4a : WaypointHoming: The Usbl does NOT detect the transponder at t = 641.60 Seconds. : The vehicle position is is (4074405.2, 591871.3) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161025.49,3648.6617,N,-12158.2013,W,1,03,00.5,027.5,M,-99.9,M,,*4d : BluefinBatt Reply: $b3q0 d- 33.03 3.80 20.50 4.05 4.12 0 7370.45 01:28:08 m : AshtechGps::processRecord() - $GPGGA,161027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161026.49,3648.6612,N,-12158.2014,W,1,03,00.5,027.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161027.49,3648.6608,N,-12158.2016,W,1,03,00.5,027.5,M,-99.9,M,,*44 : WaypointHoming: The Usbl has aquired the transponder at t = 644.60 Seconds. : The vehicle position is (4074402.6, 591870.7) : BluefinBatt Reply: $b4q0 d- 32.83 2.66 18.35 4.05 4.13 0 10660.68 °1:28:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161028.49,3648.6603,N,-12158.2018,W,1,03,00.5,027.5,M,-99.9,M,,*4e : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161029.49,3648.6599,N,-12158.2020,W,1,03,00.5,027.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074400.42, 591869.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161030.49,3648.6595,N,-12158.2022,W,1,03,00.5,027.5,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 33.3020 : WaypointHoming: The Usbl does NOT detect the transponder at t = 648.20 Seconds. : The vehicle position is is (4074399.6, 591869.5) : TerrainNav:: Measurement successfully incorporated from time = 600.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 600.00 : -40.00 : Estimated East Bias at time = 600.00 : 21.00 : Estimated Depth Bias at time = 600.00 : -5.00 : Estimated northing and easting = 4074360.42 : 591890.90 : AshtechGps::processRecord() - $GPGGA,161032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161031.49,3648.6590,N,-12158.2025,W,1,03,00.5,027.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161032.49,3648.6586,N,-12158.2028,W,1,03,00.5,027.7,M,-99.9,M,,*4a : WaypointHoming: The Usbl has aquired the transponder at t = 649.60 Seconds. : The vehicle position is (4074398.6, 591868.9) : AshtechGps::processRecord() - $GPGGA,161034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161033.49,3648.6582,N,-12158.2031,W,1,03,00.5,027.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161034.49,3648.6579,N,-12158.2035,W,1,03,00.5,027.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 652.40 Seconds. : The vehicle position is is (4074396.6, 591867.6) : AshtechGps::processRecord() - $GPGGA,161036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161035.49,3648.6575,N,-12158.2038,W,1,03,00.5,027.4,M,-99.9,M,,*43 : BluefinBatt Reply: $b3q0 d- 33.03 4.14 20.41 4.05 4.12 0 7370.16 01:28:18 m : AshtechGps::processRecord() - $GPGGA,161037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161036.49,3648.6571,N,-12158.2042,W,1,03,00.5,027.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 654.00 Seconds. : The vehicle position is (4074395.5, 591866.6) : AshtechGps::processRecord() - $GPGGA,161038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161037.49,3648.6568,N,-12158.2046,W,1,03,00.5,027.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.83 2.37 18.35 4.05 4.13 0 10660.43 01:28:20 m : AshtechGps::processRecord() - $GPGGA,161039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161038.49,3648.6564,N,-12158.2050,W,1,03,00.5,027.5,M,-99.9,M,,*41 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161039.49,3648.6561,N,-12158.2055,W,1,03,00.5,027.7,M,-99.9,M,,*42 : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4074393.44, 591864.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161040.49,3648.6558,N,-12158.2059,W,1,03,00.5,027.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 41.3946 : TerrainNav:: Measurement successfully incorporated from time = 610.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 610.00 : -39.00 : Estimated East Bias at time = 610.00 : 22.00 : Estimated Depth Bias at time = 610.00 : -5.01 : Estimated northing and easting = 4074354.44 : 591886.67 : AshtechGps::processRecord() - $GPGGA,161042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161041.49,3648.6554,N,-12158.2063,W,1,03,00.5,027.3,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 658.99 Seconds. : The vehicle position is is (4074392.4, 591863.5) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161042.49,3648.6552,N,-12158.2068,W,1,03,00.5,027.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161043.49,3648.6549,N,-12158.2072,W,1,03,00.5,027.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161044.49,3648.6546,N,-12158.2076,W,1,03,00.5,027.7,M,-99.9,M,,*4c : WaypointHoming: The Usbl has aquired the transponder at t = 661.99 Seconds. : The vehicle position is (4074390.9, 591861.6) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161045.49,3648.6543,N,-12158.2081,W,1,03,00.5,027.5,M,-99.9,M,,*42 : BluefinBatt Reply: $b3q0 d- 33.03 3.99 20.41 4.05 4.12 0 7369.76 01:28:28 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161046.49,3648.6541,N,-12158.2085,W,1,03,00.5,027.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161047.49,3648.6538,N,-12158.2090,W,1,03,00.5,027.4,M,-99.9,M,,*4d : WaypointHoming: The Usbl does NOT detect the transponder at t = 664.79 Seconds. : The vehicle position is is (4074389.5, 591859.7) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.86 2.34 18.26 4.p5 4.13 4 10660.24 01:28:30 m : AshtechGps::processRecord() - $GPGGA,161049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161048.49,3648.6536,N,-12158.2095,W,1,03,00.5,027.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161049.49,3648.6533,N,-12158.2100,W,1,03,00.5,027.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4074388.31, 591857.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161050.49,3648.6530,N,-12158.2105,W,1,03,00.5,027.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 37.0286 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav:: Measurement successfully incorporated from time = 620.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 620.00 : -39.00 : Estimated East Bias at time = 620.00 : 22.00 : Estimated Depth Bias at time = 620.00 : -5.01 : Estimated northing and easting = 4074349.31 : 591879.96 : AshtechGps::processRecord() - $GPGGA,161052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161051.49,3648.6528,N,-12158.2110,W,1,03,00.5,027.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161052.49,3648.6526,N,-12158.2115,W,1,03,00.5,027.4,M,-99.9,M,,*4a : WaypointHoming: The Usbl has aquired the transponder at t = 669.79 Seconds. : The vehicle position is (4074387.1, 591856.0) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161053.49,3648.6523,N,-12158.2120,W,1,03,00.5,027.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161054.49,3648.6521,N,-12158.2125,W,1,03,00.5,027.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161055.49,3648.6519,N,-12158.2131,W,1,03,00.5,027.4,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 33.03 3.30 20.41 4.05 4.12 0 7369.48 01:28:38 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161056.49,3648.6517,N,-12158.2136,W,1,03,00.5,027.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161057.49,3648.6515,N,-12158.2141,W,1,03,00.5,027.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.79 2.51 18.26 4.05 4.13 0 10659.91 01:28:40 í : AshtechGps::processRecord() - $GPGGA,161059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161058.49,3648.6513,N,-12158.2146,W,1,03,00.5,027.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161059.49,3648.6512,N,-12158.2152,W,1,03,00.5,027.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074384.44, 591850.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161100.49,3648.6510,N,-12158.2157,W,1,03,00.5,027.3,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 36.3662 : TerrainNav:: Measurement successfully incorporated from time = 630.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 630.00 : -38.00 : Estimated East Bias at time = 630.00 : 23.00 : Estimated Depth Bias at time = 630.00 : -5.00 : Estimated northing and easting = 4074346.44 : 591873.24 : AshtechGps::processRecord() - $GPGGA,161102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161101.49,3648.6509,N,-12158.2162,W,1,03,00.5,027.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161102.49,3648.6508,N,-12158.2168,W,1,03,00.5,027.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161103.49,3648.6507,N,-12158.2173,W,1,03,00.5,027.5,M,-99.9,M,,*4d : WaypointHoming: The Usbl does NOT detect the transponder at t = 681.39 Seconds. : The vehicle position is is (4074383.5, 591846.8) : AshtechGps::processRecord() - $GPGGA,161105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161104.49,3648.6506,N,-12158.2179,W,1,03,00.5,027.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161105.49,3648.6505,N,-12158.2185,W,1,03,00.5,027.4,M,-99.9,M,,*41 : WaypointHoming: The Usbl has aquired the transponder at t = 682.79 Seconds. : The vehicle position is (4074383.2, 591845.7) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.07 3.57 20.41 4.05 4.12 0 7369.06 01:28:48 m : AshtechGps::processRecord() - $GPGGA,161107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161106.49,3648.6504,N,-12158.2190,W,1,03,00.5,027.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161107.49,3648.6503,N,-12158.2196,W,1,03,00.5,027.6,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.83 2.34 18.35 4.0u 4.13 0 1065=.70 01:28:50 m : AshtechGps::processRecord() - $GPGGA,161109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161108.49,3648.6502,N,-12158.2202,W,1,03,00.5,027.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161109.49,3648.6501,N,-12158.2208,W,1,03,00.5,027.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4074382.46, 591841.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161110.49,3648.6500,N,-12158.2214,W,1,03,00.5,027.4,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 40.7768 : TerrainNav:: Measurement successfully incorporated from time = 640.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 640.00 : -38.00 : Estimated East Bias at time = 640.00 : 24.00 : Estimated Depth Bias at time = 640.00 : -5.00 : Estimated northing and easting = 4074344.46 : 591865.89 : AshtechGps::processRecord() - $GPGGA,161112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161111.49,3648.6500,N,-12158.2219,W,1,03,00.5,027.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 689.39 Seconds. : The vehicle position is is (4074382.2, 591840.0) : AshtechGps::processRecord() - $GPGGA,161113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161112.49,3648.6499,N,-12158.2225,W,1,03,00.5,027.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161113.49,3648.6499,N,-12158.2231,W,1,03,00.5,027.4,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 690.79 Seconds. : The vehicle position is (4074382.1, 591838.8) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161114.49,3648.6499,N,-12158.2237,W,1,03,00.5,027.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161115.49,3648.6498,N,-12158.2242,W,1,03,00.5,027.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.87 20.41 4.05 4.12 0 7368.76 01:28:58 m : AshtechGps::processRecord() - $GPGGA,161117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161116.49,3648.6498,N,-12158.2248,W,1,03,00.5,027.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161117.49,3648.6498,N,-12158.2254,W,1,03,00.5,027.6,M,-99.9,M,,*4a : BluefinBatt Reply: $b4q0 dm 32.86 1.85 18.26 4.07 4.14 0 10659.39 01:29:00 m : AshtechGps::processRecord() - $GPGGA,161119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161118.49,3648.6498,N,-12158.2259,W,1,03,00.5,027.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161119.49,3648.6497,N,-12158.2265,W,1,03,00.5,027.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 649.995472 : TerrainNav update at dvl time = 649.995472 : _navData-> (x,y) = (4074381.66, 591833.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161120.49,3648.6497,N,-12158.2270,W,1,03,00.5,027.7,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 31.5111 : TerrainNav:: Measurement successfully incorporated from time = 650.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 650.00 : -38.00 : Estimated East Bias at time = 650.00 : 24.00 : Estimated Depth Bias at time = 650.00 : -4.99 : Estimated northing and easting = 4074343.66 : 591857.43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161121.49,3648.6495,N,-12158.2276,W,1,03,00.5,027.6,M,-99.9,M,,*42 : WaypointHoming: The Usbl does NOT detect the transponder at t = 699.19 Seconds. : The vehicle position is is (4074381.2, 591831.8) : AshtechGps::processRecord() - $GPGGA,161123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161122.49,3648.6494,N,-12158.2281,W,1,03,00.5,027.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161123.49,3648.6492,N,-12158.2286,W,1,03,00.5,027.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161124.49,3648.6489,N,-12158.2290,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161125.49,3648.6487,N,-12158.2295,W,1,03,00.5,027.4,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.68 20.41 4.06 4.13 0 7368.41 01:29:08 m : AshtechGps::processRecord() - $GPGGA,161127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161126.49,3648.6484,N,-12158.2298,W,1,03,00.5,027.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161127.49,3648.6480,N,-12158.2301,W,1,03,00.5,027.6,M,-99.9,M,,*41 : BluefinBatt Reply: $b4q0 d- 32.86 2.09 18.26 4.06 4.14 0 10659.19 01:29:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161128.49,3648.6477,N,-12158.2304,W,1,03,00.5,027.5,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.060000, mean min cell voltage 4.060000 : AshtechGps::processRecord() - $GPGGA,161130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161129.50,3648.6473,N,-12158.2306,W,1,03,00.5,027.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074376.86, 591827.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161130.50,3648.6470,N,-12158.2307,W,1,03,00.5,027.5,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 40.9589 : TerrainNav:: Measurement successfully incorporated from time = 659.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 659.99 : -37.00 : Estimated East Bias at time = 659.99 : 25.00 : Estimated Depth Bias at time = 659.99 : -5.00 : Estimated northing and easting = 4074339.86 : 591852.77 : AshtechGps::processRecord() - $GPGGA,161132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161131.50,3648.6466,N,-12158.2308,W,1,03,00.5,027.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161132.50,3648.6463,N,-12158.2308,W,1,03,00.5,027.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161133.50,3648.6459,N,-12158.2308,W,1,03,00.5,027.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161134.50,3648.6456,N,-12158.2308,W,1,03,00.5,028.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161135.50,3648.6452,N,-12158.2308,W,1,03,00.5,027.8,M,-99.9,M,,*42 : BluefinBatt Reply: $b3q0 d- 33.03 4.22 20.41 4.06 4.13 0 7368.15 01:29:18 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161136.50,3648.6448,N,-12158.2307,W,1,03,00.5,027.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161137.50,3648.6444,N,-12158.2307,W,1,03,00.5,028.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.79 2.90 18.26 4.05 4.13 0 10658.90 01:29:20 m : AshtechGps::processRecord() - $GPGGA,161139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161138.50,3648.6440,N,-12158.2306,W,1,03,00.5,028.1,M,-99.9,M,,*44 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000 : AshtechGps::processRecord() - $GPGGA,161140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161139.50,3648.6436,N,-12158.2305,W,1,03,00.5,027.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4074369.78, 591828.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161140.50,3648.6431,N,-12158.2304,W,1,03,00.5,027.8,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 44.2034 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 669.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 669.99 : -36.00 : Estimated East Bias at time = 669.99 : 26.00 : Estimated Depth Bias at time = 669.99 : -5.01 : Estimated northing and easting = 4074333.78 : 591854.11 : AshtechGps::processRecord() - $GPGGA,161142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161141.50,3648.6427,N,-12158.2303,W,1,03,00.5,027.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161142.50,3648.6423,N,-12158.2302,W,1,03,00.5,028.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161143.50,3648.6418,N,-12158.2301,W,1,03,00.5,028.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161144.50,3648.6414,N,-12158.2300,W,1,03,00.5,028.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161145.50,3648.6410,N,-12158.2298,W,1,03,00.5,027.9,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 33.03 4.07 20.31 4.05 4.12 0 7367.70 01:29:28 m : AshtechGps::processRecord() - $GPGGA,161147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161146.50,3648.6405,N,-12158.2297,W,1,03,00.5,028.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161147.50,3648.6401,N,-12158.2296,W,1,03,00.5,028.1,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.86 2.44"18.26`4.05 4.13 0 10658.72 01:29:30 m : AshtechGps::processRecord() - $GPGGA,161149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161148.50,3648.6396,N,-12158.2295,W,1,03,00.5,027.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161149.50,3648.6391,N,-12158.2293,W,1,03,00.5,027.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4074361.57, 591829.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161150.50,3648.6387,N,-12158.2292,W,1,03,00.5,027.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 43.9105 : TerrainNav:: Measurement successfully incorporated from time = 679.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 679.99 : -36.00 : Estimated East Bias at time = 679.99 : 26.00 : Estimated Depth Bias at time = 679.99 : -5.02 : Estimated northing and easting = 4074325.57 : 591855.97 : AshtechGps::processRecord() - $GPGGA,161152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161151.50,3648.6382,N,-12158.2292,W,1,03,00.5,027.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161152.50,3648.6377,N,-12158.2291,W,1,03,00.5,027.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161153.50,3648.6372,N,-12158.2290,W,1,03,00.5,027.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161154.50,3648.6367,N,-12158.2289,W,1,03,00.5,027.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161155.50,3648.6362,N,-12158.2287,W,1,03,00.5,027.4,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 33.03 3.34 20.21 4.05 4.12 0 7367.44 01:29:38 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161156.50,3648.6357,N,-12158.2286,W,1,03,00.5,027.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161157.50,3648.6352,N,-12158.2285,W,1,03,00.5,027.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.83 2.76 1¸>26 4.0µ 4.13 0 10658.43 01:29:40 m J : AshtechGps::processRecord() - $GPGGA,161159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161158.50,3648.6347,N,-12158.2283,W,1,03,00.5,027.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161159.50,3648.6342,N,-12158.2282,W,1,03,00.5,027.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074352.52, 591831.78) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161200.50,3648.6337,N,-12158.2281,W,1,03,00.5,027.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 44.0129 : TerrainNav:: Measurement successfully incorporated from time = 690.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 690.00 : -35.00 : Estimated East Bias at time = 690.00 : 26.00 : Estimated Depth Bias at time = 690.00 : -5.02 : Estimated northing and easting = 4074317.52 : 591857.78 : AshtechGps::processRecord() - $GPGGA,161202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161201.50,3648.6332,N,-12158.2280,W,1,03,00.5,027.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161202.50,3648.6327,N,-12158.2278,W,1,03,00.5,027.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161203.50,3648.6322,N,-12158.2277,W,1,03,00.5,027.3,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161204.50,3648.6317,N,-12158.2276,W,1,03,00.5,027.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161205.50,3648.6312,N,-12158.2275,W,1,03,00.5,027.3,M,-99.9,M,,*41 : BluefinBatt Reply: $b3q0 d- 33.07 3.65 20.21 4.05 4.12 0 7367.05 01:29:48 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161206.50,3648.6307,N,-12158.2274,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161207.50,3648.6301,N,-12158.2273,W,1,03,00.5,027.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.83 2.90 18.26 <.05 4.13 0 50658.22 01:29:50 m : AshtechGps::processRecord() - $GPGGA,161209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161208.50,3648.6296,N,-12158.2272,W,1,03,00.5,027.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161209.50,3648.6291,N,-12158.2271,W,1,03,00.5,027.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4074343.06, 591833.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161210.50,3648.6286,N,-12158.2270,W,1,03,00.5,027.3,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 42.6137 : TerrainNav:: Measurement successfully incorporated from time = 700.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 700.00 : -35.00 : Estimated East Bias at time = 700.00 : 26.00 : Estimated Depth Bias at time = 700.00 : -5.02 : Estimated northing and easting = 4074308.06 : 591859.47 : AshtechGps::processRecord() - $GPGGA,161212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161211.50,3648.6281,N,-12158.2269,W,1,03,00.5,027.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161212.50,3648.6276,N,-12158.2268,W,1,03,00.5,027.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161213.50,3648.6271,N,-12158.2267,W,1,03,00.5,027.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161214.50,3648.6266,N,-12158.2265,W,1,03,00.5,027.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161215.49,3648.6260,N,-12158.2264,W,1,03,00.5,027.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.50 20.21 4.05 4.12 0 7366.79 01:29:58 m : AshtechGps::processRecord() - $GPGGA,161217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161216.49,3648.6255,N,-12158.2263,W,1,03,00.5,027.3,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 754.00 Seconds. : The vehicle position is (4074336.6, 591834.7) : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161217.49,3648.6250,N,-12158.2262,W,1,03,00.5,027.2,M,-99.9,M,,*4a : BluefinBatt Reply: $b4q0 d- 32.79 2.83 18.16 4.05 4.13 0 10657.94 01:30:00 m : AshtechGps::processRecord() - $GPGGA,161219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161218.49,3648.6244,N,-12158.2261,W,1,03,00.5,027.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161219.49,3648.6239,N,-12158.2260,W,1,03,00.5,027.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4074333.42, 591835.23) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161220.49,3648.6234,N,-12158.2259,W,1,03,00.5,027.3,M,-99.9,M,,*45 : WaypointHoming: The Usbl does NOT detect the transponder at t = 757.60 Seconds. : The vehicle position is is (4074333.0, 591835.3) : TerrainNav::Minimum Correlation Error: 41.7830 : TerrainNav:: Measurement successfully incorporated from time = 710.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 710.00 : -36.00 : Estimated East Bias at time = 710.00 : 26.00 : Estimated Depth Bias at time = 710.00 : -5.03 : Estimated northing and easting = 4074297.42 : 591861.23 : AshtechGps::processRecord() - $GPGGA,161222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161221.49,3648.6229,N,-12158.2258,W,1,03,00.5,027.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161222.49,3648.6223,N,-12158.2257,W,1,03,00.5,027.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161223.49,3648.6218,N,-12158.2257,W,1,03,00.5,027.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161224.49,3648.6213,N,-12158.2256,W,1,03,00.5,027.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161225.49,3648.6208,N,-12158.2254,W,1,03,00.5,027.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.65 20.21 4.05 4.12 0 7366.41 01:30:08 m : AshtechGps::processRecord() - $GPGGA,161227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161226.49,3648.6203,N,-12158.2253,W,1,03,00.5,027.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161227.49,3648.6198,N,-12158.2252,W,1,03,00.5,027.4,M,-99.9,M,,*4b : BluefinBatt Reply: $b4q0 d- 32.83 2.62 18.26 4.05 4.13 0 10657.71 01:30:10`m : AshtechGps::processRecord() - $GPGGA,161229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161228.49,3648.6192,N,-12158.2251,W,1,03,00.5,027.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161229.49,3648.6187,N,-12158.2250,W,1,03,00.5,027.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4074323.84, 591836.92) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161230.49,3648.6182,N,-12158.2248,W,1,03,00.5,027.4,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 40.4482 : TerrainNav:: Measurement successfully incorporated from time = 720.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 720.00 : -35.00 : Estimated East Bias at time = 720.00 : 26.00 : Estimated Depth Bias at time = 720.00 : -5.02 : Estimated northing and easting = 4074288.84 : 591862.92 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161231.49,3648.6177,N,-12158.2247,W,1,03,00.5,027.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161232.49,3648.6171,N,-12158.2246,W,1,03,00.5,027.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161233.49,3648.6166,N,-12158.2245,W,1,03,00.5,027.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161234.49,3648.6160,N,-12158.2245,W,1,03,00.5,027.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161235.49,3648.6155,N,-12158.2244,W,1,03,00.5,027.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.68 20.21 4.05 4.12 0 7366.14 01:30:18 m : AshtechGps::processRecord() - $GPGGA,161237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161236.49,3648.6150,N,-12158.2243,W,1,03,00.5,027.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161237.49,3648.6145,N,-12158.2242,W,1,03,00.5,027.4,M,-99.9,M,,*4b : BluefinBatt Reply: $b4q0 d- 32.83 2.66 18.16 4.05 4.13 0 10657.39 01:30:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161238.49,3648.6140,N,-12158.2241,W,1,03,00.5,027.4,M,-99.9,M,,*42 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161239.49,3648.6134,N,-12158.2240,W,1,03,00.5,027.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 729.999992 : TerrainNav update at dvl time = 729.999992 : _navData-> (x,y) = (4074314.14, 591838.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161240.49,3648.6129,N,-12158.2238,W,1,03,00.5,027.4,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 38.0510 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 730.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 730.00 : -35.00 : Estimated East Bias at time = 730.00 : 26.00 : Estimated Depth Bias at time = 730.00 : -5.02 : Estimated northing and easting = 4074279.14 : 591864.50 : AshtechGps::processRecord() - $GPGGA,161242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161241.49,3648.6124,N,-12158.2237,W,1,03,00.5,027.4,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161242.49,3648.6119,N,-12158.2236,W,1,03,00.5,027.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161243.49,3648.6114,N,-12158.2235,W,1,03,00.5,027.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161244.49,3648.6109,N,-12158.2233,W,1,03,00.5,027.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161245.49,3648.6104,N,-12158.2232,W,1,03,00.5,027.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 33.03 3.80 20.21 4.05 4.12 0 7365.74 01:30:28 m : AshtechGps::processRecord() - $GPGGA,161247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161246.49,3648.6098,N,-12158.2231,W,1,03,00.5,027.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161247.49,3648.6093,N,-12158.2230,W,1,03,00.5,027.2,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.79 2>30 18.16 4.05 6.13 0 10657.21 01:30:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161248.49,3648.6088,N,-12158.2229,W,1,03,00.5,027.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161249.49,3648.6082,N,-12158.2228,W,1,03,00.5,027.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 739.999307 : TerrainNav update at dvl time = 739.999307 : _navData-> (x,y) = (4074304.50, 591840.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161250.49,3648.6077,N,-12158.2227,W,1,03,00.5,027.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 36.8239 : TerrainNav:: Measurement successfully incorporated from time = 740.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 740.00 : -35.00 : Estimated East Bias at time = 740.00 : 26.00 : Estimated Depth Bias at time = 740.00 : -5.01 : Estimated northing and easting = 4074269.50 : 591866.29 : AshtechGps::processRecord() - $GPGGA,161252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161251.49,3648.6072,N,-12158.2226,W,1,03,00.5,027.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161252.49,3648.6067,N,-12158.2225,W,1,03,00.5,027.7,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161253.49,3648.6061,N,-12158.2224,W,1,03,00.5,027.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161254.49,3648.6056,N,-12158.2223,W,1,03,00.5,027.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161255.49,3648.6051,N,-12158.2222,W,1,03,00.5,027.4,M,-99.9,M,,*4d : BluefinBatt Reply: $b3q0 d- 33.03 3.53 20.11 4.05 4.12 0 7365.47 01:30:38 m : AshtechGps::processRecord() - $GPGGA,161257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161256.49,3648.6046,N,-12158.2221,W,1,03,00.5,027.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161257.49,3648.6041,N,-12158.2219,W,1,03,00.5,027.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b4q0 d- 32.79 2.83 18.26 4.05 4.13 0 106u6.88 01:30:40 m : AshtechGps::processRecord() - $GPGGA,161259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161258.49,3648.6036,N,-12158.2218,W,1,03,00.5,027.0,M,-99.9,M,,*4c : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161259.49,3648.6031,N,-12158.2217,W,1,03,00.5,027.7,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 749.998622 : TerrainNav update at dvl time = 749.998622 : _navData-> (x,y) = (4074294.98, 591842.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161300.49,3648.6026,N,-12158.2216,W,1,03,00.5,027.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 48.3771 : TerrainNav:: Measurement successfully incorporated from time = 750.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 750.00 : -35.00 : Estimated East Bias at time = 750.00 : 26.00 : Estimated Depth Bias at time = 750.00 : -5.03 : Estimated northing and easting = 4074259.98 : 591868.08 : AshtechGps::processRecord() - $GPGGA,161302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161301.49,3648.6020,N,-12158.2215,W,1,03,00.5,027.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161302.49,3648.6015,N,-12158.2213,W,1,03,00.5,027.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161303.49,3648.6010,N,-12158.2212,W,1,03,00.5,027.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161304.49,3648.6005,N,-12158.2211,W,1,03,00.5,027.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161305.49,3648.5999,N,-12158.2210,W,1,03,00.5,027.4,M,-99.9,M,,*46 : BluefinBatt Reply: $b3q0 d- 32.99 4.14 20.11 4.05 4.12 0 7365.05 01:30:48 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161306.49,3648.5994,N,-12158.2209,W,1,03,00.5,027.4,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161307.49,3648.5989,N,-12158.2208,W,1,03,00.5,027.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.83 2.76 18.26 4.05 4.13 0 10656.67 01:31:50 m : AshtechGps::processRecord() - $GPGGA,161309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161308.49,3648.5983,N,-12158.2207,W,1,03,00.5,027.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161309.49,3648.5978,N,-12158.2206,W,1,03,00.5,027.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 759.997937 : TerrainNav update at dvl time = 759.997937 : _navData-> (x,y) = (4074285.28, 591843.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161310.49,3648.5973,N,-12158.2205,W,1,03,00.5,027.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 39.0016 : TerrainNav:: Measurement successfully incorporated from time = 760.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 760.00 : -35.00 : Estimated East Bias at time = 760.00 : 26.00 : Estimated Depth Bias at time = 760.00 : -5.03 : Estimated northing and easting = 4074250.28 : 591869.77 : AshtechGps::processRecord() - $GPGGA,161312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161311.49,3648.5968,N,-12158.2204,W,1,03,00.5,027.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161312.49,3648.5963,N,-12158.2203,W,1,03,00.5,027.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161313.49,3648.5958,N,-12158.2202,W,1,03,00.5,027.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161314.49,3648.5953,N,-12158.2201,W,1,03,00.5,027.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161315.49,3648.5948,N,-12158.2199,W,1,03,00.5,027.6,M,-99.9,M,,*4b : BluefinBatt Reply: $b3q0 d- 33.03 3.76 20.11 4.05 4.12 0 7364.80 01:30:58 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161316.49,3648.5943,N,-12158.2198,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161317.49,3648.5938,N,-12158.2197,W,1,03,00.5,027.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.83 2.34 18.26 4.05 4.13 0 10656.36$01:31:00 m : AshtechGps::processRecord() - $GPGGA,161319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161318.49,3648.5933,N,-12158.2196,W,1,03,00.5,027.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161319.49,3648.5927,N,-12158.2195,W,1,03,00.5,027.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4074275.87, 591845.57) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161320.49,3648.5922,N,-12158.2194,W,1,03,00.5,027.7,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 36.1244 : TerrainNav:: Measurement successfully incorporated from time = 770.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 770.00 : -35.00 : Estimated East Bias at time = 770.00 : 26.00 : Estimated Depth Bias at time = 770.00 : -5.03 : Estimated northing and easting = 4074240.87 : 591871.57 : AshtechGps::processRecord() - $GPGGA,161322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161321.49,3648.5917,N,-12158.2193,W,1,03,00.5,027.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161322.49,3648.5911,N,-12158.2192,W,1,03,00.5,027.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161323.49,3648.5906,N,-12158.2191,W,1,03,00.5,027.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161324.49,3648.5901,N,-12158.2190,W,1,03,00.5,027.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161325.49,3648.5896,N,-12158.2189,W,1,03,00.5,027.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 33.03 3.46 20.01 4.05 4.12 0 7364.40 01:31:08 m : AshtechGps::processRecord() - $GPGGA,161327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161326.49,3648.5891,N,-12158.2188,W,1,03,00.5,027.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161327.49,3648.5885,N,-12158.2187,W,1,03,00.5,027.7,M,-99.9,M,,*44 : BluefinBatt Reply: $b4q0 d- 32.79 2.83 18.16 4.05 4.13 0 10656.14 01:31:10 m : AshtechGps::processRecord() - $GPGGA,161329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161328.49,3648.5880,N,-12158.2185,W,1,03,00.5,027.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161329.49,3648.5875,N,-12158.2184,W,1,03,00.5,027.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074266.27, 591847.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161330.49,3648.5870,N,-12158.2183,W,1,03,00.5,027.6,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 43.2080 : TerrainNav:: Measurement successfully incorporated from time = 780.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 780.00 : -35.00 : Estimated East Bias at time = 780.00 : 25.00 : Estimated Depth Bias at time = 780.00 : -5.06 : Estimated northing and easting = 4074231.27 : 591872.27 : AshtechGps::processRecord() - $GPGGA,161332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161331.49,3648.5865,N,-12158.2182,W,1,03,00.5,027.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161332.49,3648.5860,N,-12158.2181,W,1,03,00.5,027.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161333.49,3648.5854,N,-12158.2180,W,1,03,00.5,027.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161334.49,3648.5849,N,-12158.2178,W,1,03,00.5,027.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161335.49,3648.5844,N,-12158.2177,W,1,03,00.5,027.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 32.99 4.03 20.01 4.05 4.12 0 7364.12 01:31:18 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161336.49,3648.5839,N,-12158.2176,W,1,03,00.5,027.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161337.49,3648.5833,N,-12158.2175,W,1,03,00.5,027.5,M,-99.9,M,,*47 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.75 2.93 18.16 4.0= 4.13 0 10655.82 01:31:20 m : AshtechGps::processRecord() - $GPGGA,161339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161338.49,3648.5828,N,-12158.2174,W,1,03,00.5,027.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161339.49,3648.5823,N,-12158.2173,W,1,03,00.5,027.7,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 789.995882 : TerrainNav update at dvl time = 789.995882 : _navData-> (x,y) = (4074256.54, 591849.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161340.49,3648.5817,N,-12158.2172,W,1,03,00.5,027.6,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 36.7532 : TerrainNav:: Measurement successfully incorporated from time = 790.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 790.00 : -35.00 : Estimated East Bias at time = 790.00 : 25.00 : Estimated Depth Bias at time = 790.00 : -5.06 : Estimated northing and easting = 4074221.54 : 591874.00 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161341.49,3648.5812,N,-12158.2171,W,1,03,00.5,027.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161342.49,3648.5807,N,-12158.2170,W,1,03,00.5,027.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161343.49,3648.5802,N,-12158.2169,W,1,03,00.5,027.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161344.49,3648.5796,N,-12158.2169,W,1,03,00.5,027.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161345.49,3648.5791,N,-12158.2168,W,1,03,00.5,027.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt Reply: $b3q0 d- 32.99 3.99 20.01 4.05 4.12 0 7363.72 01:31:28 m : AshtechGps::processRecord() - $GPGGA,161347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161346.49,3648.5786,N,-12158.2168,W,1,03,00.5,028.0,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161347.49,3648.5781,N,-12158.2168,W,1,03,00.5,028.0,M,-99.9,M,,*40 : BluefinBatt Reply: $b4q0 d- 32.83 2.58 18.16 4.05 4.13 0 10655.63 01:31:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161348.49,3648.5776,N,-12158.2169,W,1,03,00.5,028.0,M,-99.9,M,,*46 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : AshtechGps::processRecord() - $GPGGA,161350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161349.49,3648.5771,N,-12158.2169,W,1,03,00.5,028.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 799.995197 : TerrainNav update at dvl time = 799.995197 : _navData-> (x,y) = (4074246.99, 591849.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161350.49,3648.5766,N,-12158.2171,W,1,03,00.5,027.8,M,-99.9,M,,*40 : TerrainNav::Minimum Correlation Error: 33.8997 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 800.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 800.00 : -35.00 : Estimated East Bias at time = 800.00 : 25.00 : Estimated Depth Bias at time = 800.00 : -5.06 : Estimated northing and easting = 4074211.99 : 591874.45 : AshtechGps::processRecord() - $GPGGA,161352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161351.49,3648.5761,N,-12158.2172,W,1,03,00.5,027.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161352.49,3648.5756,N,-12158.2174,W,1,03,00.5,027.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161353.49,3648.5751,N,-12158.2176,W,1,03,00.5,027.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161354.49,3648.5746,N,-12158.2178,W,1,03,00.5,027.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161355.50,3648.5742,N,-12158.2180,W,1,03,00.5,028.0,M,-99.9,M,,*42 : BluefinBatt Reply: $b3q0 d- 32.99 3.57 20.01 4.05 4.12 0 7363.44 01:31:38 m : AshtechGps::processRecord() - $GPGGA,161357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161356.50,3648.5737,N,-12158.2183,W,1,03,00.5,028.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161357.50,3648.5733,N,-12158.2186,W,1,03,00.5,028.3,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 5 from reply $b4q0 d- 32.75 2.69 18.16 4.05 4.13"0 10655.31 01:31:4° m : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161358.50,3648.5729,N,-12158.2189,W,1,03,00.5,028.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161359.50,3648.5725,N,-12158.2192,W,1,03,00.5,028.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4074238.73, 591845.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161400.50,3648.5722,N,-12158.2196,W,1,03,00.5,028.3,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 31.0285 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 809.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 809.99 : -34.00 : Estimated East Bias at time = 809.99 : 26.00 : Estimated Depth Bias at time = 809.99 : -5.04 : Estimated northing and easting = 4074204.73 : 591871.95 : AshtechGps::processRecord() - $GPGGA,161402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161401.50,3648.5718,N,-12158.2199,W,1,03,00.5,028.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161402.50,3648.5715,N,-12158.2203,W,1,03,00.5,028.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161403.50,3648.5711,N,-12158.2207,W,1,03,00.5,027.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161404.50,3648.5708,N,-12158.2211,W,1,03,00.5,028.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161405.50,3648.5705,N,-12158.2215,W,1,03,00.5,027.9,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 33.03 3.95 20.01 4.05 4.12 0 7363.04 01:31:48 m : AshtechGps::processRecord() - $GPGGA,161407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161406.50,3648.5702,N,-12158.2220,W,1,03,00.5,028.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161407.50,3648.5699,N,-12158.2224,W,1,03,00.5,027.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.83 2.?9 18.16 4.05 4.13 0 10655n12 01:31:50 m : AshtechGps::processRecord() - $GPGGA,161409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161408.50,3648.5696,N,-12158.2229,W,1,03,00.5,027.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161409.50,3648.5693,N,-12158.2234,W,1,03,00.5,027.9,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4074232.76, 591839.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161410.50,3648.5690,N,-12158.2238,W,1,03,00.5,028.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 32.6388 : TerrainNav:: Measurement successfully incorporated from time = 819.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 819.99 : -34.00 : Estimated East Bias at time = 819.99 : 26.00 : Estimated Depth Bias at time = 819.99 : -5.04 : Estimated northing and easting = 4074198.76 : 591865.74 : AshtechGps::processRecord() - $GPGGA,161412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161411.50,3648.5688,N,-12158.2243,W,1,03,00.5,028.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=60.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,161413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161412.50,3648.5685,N,-12158.2248,W,1,03,00.5,028.2,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl::execute() -- (t = 870.400373) Behavior waypoint_homing:-1 has changed to state Finished : LayeredControl::execute() -- (t = 870.400373) Behavior ascend:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,161414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161413.50,3648.5683,N,-12158.2252,W,1,03,00.5,028.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161414.50,3648.5680,N,-12158.2257,W,1,03,00.5,027.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161415.50,3648.5678,N,-12158.2262,W,1,03,00.5,028.0,M,-99.9,M,,*46 : BluefinBatt Reply: $b3q0 d- 33.03 3.68 19.92 4.05 4.12 0 7362.74 01:31:58 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161416.50,3648.5676,N,-12158.2267,W,1,03,00.5,028.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161417.50,3648.5673,N,-12158.2272,W,1,03,00.5,028.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4y0 d- 3r.75 3.04 18.16!4.05 4.12 0 10654.78 01:32:00 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161418.50,3648.5671,N,-12158.2278,W,1,03,00.5,028.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161419.50,3648.5669,N,-12158.2284,W,1,03,00.5,027.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 830.003141 : TerrainNav update at dvl time = 830.003141 : _navData-> (x,y) = (4074228.44, 591832.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161420.50,3648.5668,N,-12158.2291,W,1,03,00.5,027.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 34.2528 : TerrainNav:: Measurement successfully incorporated from time = 830.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 830.00 : -33.00 : Estimated East Bias at time = 830.00 : 27.00 : Estimated Depth Bias at time = 830.00 : -5.03 : Estimated northing and easting = 4074195.44 : 591859.06 : AshtechGps::processRecord() - $GPGGA,161422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161421.50,3648.5666,N,-12158.2298,W,1,03,00.5,027.9,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161422.50,3648.5665,N,-12158.2305,W,1,03,00.5,027.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161423.50,3648.5663,N,-12158.2313,W,1,03,00.5,028.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161424.50,3648.5662,N,-12158.2320,W,1,03,00.5,028.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161425.50,3648.5661,N,-12158.2327,W,1,03,00.5,028.8,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.91 5.74 19.92 4.05 4.12 0 7362.12 01:32:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161426.50,3648.5661,N,-12158.2335,W,1,03,00.5,029.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161427.50,3648.5660,N,-12158.2342,W,1,03,00.5,030.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.67 3.98 1:.16 4.05 4.12 0 10654.43 01:3™:10 m : AshtechGps::processRecord() - $GPGGA,161429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161428.50,3648.5660,N,-12158.2350,W,1,03,00.5,031.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161429.50,3648.5659,N,-12158.2358,W,1,03,00.5,031.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074226.62, 591821.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161430.50,3648.5659,N,-12158.2366,W,1,03,00.5,031.7,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 32.4569 : TerrainNav:: Measurement successfully incorporated from time = 840.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 840.00 : -33.00 : Estimated East Bias at time = 840.00 : 27.00 : Estimated Depth Bias at time = 840.00 : -5.04 : Estimated northing and easting = 4074193.62 : 591848.06 : AshtechGps::processRecord() - $GPGGA,161432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161431.50,3648.5659,N,-12158.2374,W,1,03,00.5,032.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161432.50,3648.5658,N,-12158.2383,W,1,03,00.5,033.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161433.50,3648.5658,N,-12158.2391,W,1,03,00.5,033.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161434.50,3648.5657,N,-12158.2400,W,1,03,00.5,034.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161435.50,3648.5657,N,-12158.2409,W,1,03,00.5,034.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.91 5.78 20.01 4.05 4.12 0 7361.69 01:32:18 m : AshtechGps::processRecord() - $GPGGA,161437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161436.50,3648.5656,N,-12158.2417,W,1,03,00.5,034.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161437.50,3648.5656,N,-12158.2426,W,1,03,00.5,035.5,M,-99.9,M,,*45 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.75` ;.77!18.16 4.p4 4.12 0 10654.01 01:32:20 m : AshtechGps::processRecord() - $GPGGA,161439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161438.50,3648.5655,N,-12158.2435,W,1,03,00.5,036.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161439.50,3648.5655,N,-12158.2444,W,1,03,00.5,036.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4074225.58, 591808.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161440.50,3648.5654,N,-12158.2453,W,1,03,00.5,037.4,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 41.3240 : TerrainNav:: Measurement successfully incorporated from time = 850.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,161442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161441.49,3648.5654,N,-12158.2462,W,1,03,00.5,037.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 850.00 : -32.00 : Estimated East Bias at time = 850.00 : 28.00 : Estimated Depth Bias at time = 850.00 : -5.06 : Estimated northing and easting = 4074193.58 : 591836.15 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161442.49,3648.5653,N,-12158.2471,W,1,03,00.5,038.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161443.49,3648.5653,N,-12158.2480,W,1,03,00.5,038.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161444.49,3648.5652,N,-12158.2489,W,1,03,00.5,039.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161445.49,3648.5652,N,-12158.2498,W,1,03,00.5,040.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.91 5.62 20.01 4.04 4.11 0 7361.09 01:32:28 m : AshtechGps::processRecord() - $GPGGA,161447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161446.49,3648.5651,N,-12158.2507,W,1,03,00.5,040.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161447.49,3648.5650,N,-12158.2516,W,1,03,00.5,041.2,M,-99.9,M,,*4a : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.67 04.05 1<.06 4.04 4.12 0 10653.73 01:32:30 m : AshtechGps::processRecord() - $GPGGA,161449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161448.49,3648.5650,N,-12158.2526,W,1,03,00.5,041.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161449.49,3648.5649,N,-12158.2535,W,1,03,00.5,041.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4074224.30, 591794.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161450.49,3648.5648,N,-12158.2544,W,1,03,00.5,042.8,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 33.8772 : TerrainNav:: Measurement successfully incorporated from time = 860.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161451.49,3648.5647,N,-12158.2554,W,1,03,00.5,043.0,M,-99.9,M,,*4d : Estimated North Bias at time = 860.00 : -34.00 : Estimated East Bias at time = 860.00 : 29.00 : Estimated Depth Bias at time = 860.00 : -5.08 : Estimated northing and easting = 4074190.30 : 591823.61 : AshtechGps::processRecord() - $GPGGA,161453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161452.49,3648.5646,N,-12158.2563,W,1,03,00.5,043.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161453.49,3648.5645,N,-12158.2572,W,1,03,00.5,044.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161454.49,3648.5644,N,-12158.2582,W,1,03,00.5,044.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161455.49,3648.5643,N,-12158.2591,W,1,03,00.5,044.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.91 7.11 20.01 4.04 4.11 0 7360.70 01:32:38 m : AshtechGps::processRecord() - $GPGGA,161457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161456.49,3648.5642,N,-12158.2601,W,1,03,00.5,045.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161457.49,3648.5641,N,-12158.2610,W,1,03,00.5,046.3,M,-99.9,M,,*48 : BluefinBatt Reply: $b4q0 d- 32.71 3.67 18.06 4.04 4.12 0 10653.32 01:32:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161458.49,3648.5641,N,-12158.2620,W,1,03,00.5,046.8,M,-99.9,M,,*4f : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,161500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161459.49,3648.5640,N,-12158.2630,W,1,03,00.5,047.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4074222.62, 591780.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161500.49,3648.5640,N,-12158.2639,W,1,03,00.5,048.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 40.5435 : AshtechGps::processRecord() - $GPGGA,161502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161501.49,3648.5639,N,-12158.2649,W,1,03,00.5,048.5,M,-99.9,M,,*41 : TerrainNav:: Measurement successfully incorporated from time = 870.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 870.00 : -32.00 : Estimated East Bias at time = 870.00 : 27.00 : Estimated Depth Bias at time = 870.00 : -5.11 : Estimated northing and easting = 4074190.62 : 591807.56 : AshtechGps::processRecord() - $GPGGA,161503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161502.49,3648.5639,N,-12158.2658,W,1,03,00.5,049.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161503.49,3648.5639,N,-12158.2668,W,1,03,00.5,050.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161504.49,3648.5638,N,-12158.2677,W,1,03,00.5,049.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161505.49,3648.5637,N,-12158.2687,W,1,03,00.5,051.0,M,-99.9,M,,*44 : BluefinBatt Reply: $b3q0 d- 32.91 5.01 19.92 4.04 4.11 0 7360.09 01:32:48 m : AshtechGps::processRecord() - $GPGGA,161507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161506.49,3648.5636,N,-12158.2696,W,1,03,00.5,052.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161507.49,3648.5635,N,-12158.2706,W,1,03,00.5,051.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161508.49,3648.5634,N,-12158.2716,W,1,03,00.5,052.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161509.49,3648.5633,N,-12158.2726,W,1,03,00.5,054.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample()-caught read() exception: Timed Out (%b4q0 d- 32.71 3.88 18.06 <.04 4.12 0 q0653.00 01:32:50 m ) : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4074221.06, 591766.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161510.49,3648.5632,N,-12158.2735,W,1,03,00.5,053.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 43.6518 : AshtechGps::processRecord() - $GPGGA,161512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161511.49,3648.5631,N,-12158.2745,W,1,03,00.5,054.2,M,-99.9,M,,*4f : TerrainNav:: Measurement successfully incorporated from time = 880.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 880.00 : -31.00 : Estimated East Bias at time = 880.00 : 27.00 : Estimated Depth Bias at time = 880.00 : -5.13 : Estimated northing and easting = 4074190.06 : 591793.29 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161512.49,3648.5631,N,-12158.2754,W,1,03,00.5,055.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161513.49,3648.5631,N,-12158.2763,W,1,03,00.5,056.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161514.49,3648.5631,N,-12158.2773,W,1,03,00.5,057.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161515.49,3648.5631,N,-12158.2782,W,1,03,00.5,057.0,M,-99.9,M,,*41 : BluefinBatt Reply: $b3q0 d- 32.91 5.05 19.92 4.04 4.11 0 7359.60 01:32:58 m : AshtechGps::processRecord() - $GPGGA,161517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161516.49,3648.5631,N,-12158.2792,W,1,03,00.5,057.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161517.49,3648.5631,N,-12158.2802,W,1,03,00.5,058.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.67 3.91`18.06 4.03 4/11 0 10652.µ7 01:33:00 m : AshtechGps::processRecord() - $GPGGA,161519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161518.49,3648.5631,N,-12158.2812,W,1,03,00.5,058.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161519.49,3648.5630,N,-12158.2822,W,1,03,00.5,059.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4074220.48, 591751.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161520.49,3648.5630,N,-12158.2832,W,1,03,00.5,059.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 37.0168 : AshtechGps::processRecord() - $GPGGA,161522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161521.49,3648.5629,N,-12158.2842,W,1,03,00.5,061.1,M,-99.9,M,,*48 : TerrainNav:: Measurement successfully incorporated from time = 890.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 890.00 : 49.00 : Estimated East Bias at time = 890.00 : 48.00 : Estimated Depth Bias at time = 890.00 : -4.77 : Estimated northing and easting = 4074269.48 : 591799.96 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161522.49,3648.5628,N,-12158.2851,W,1,03,00.5,060.9,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161523.49,3648.5628,N,-12158.2861,W,1,03,00.5,062.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161524.49,3648.5627,N,-12158.2871,W,1,03,00.5,061.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161525.49,3648.5627,N,-12158.2880,W,1,03,00.5,063.0,M,-99.9,M,,*4f : BluefinBatt Reply: $b3q0 d- 32.91 5.70 19.92 4.03 4.10 0 7358.95 01:33:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161526.49,3648.5626,N,-12158.2890,W,1,03,00.5,063.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161527.49,3648.5626,N,-12158.2899,W,1,03,00.5,064.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.71 3.91 18.86`4.03 4.11 0 10652>28 01:33:10 m : AshtechGps::processRecord() - $GPGGA,161529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161528.49,3648.5625,N,-12158.2908,W,1,03,00.5,064.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161529.49,3648.5624,N,-12158.2918,W,1,03,00.5,065.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4074219.20, 591737.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161530.49,3648.5624,N,-12158.2927,W,1,03,00.5,065.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 29.3213 : AshtechGps::processRecord() - $GPGGA,161532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161531.49,3648.5623,N,-12158.2938,W,1,03,00.5,066.6,M,-99.9,M,,*4f : TerrainNav:: Measurement successfully incorporated from time = 900.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 900.00 : -25.00 : Estimated East Bias at time = 900.00 : -36.00 : Estimated Depth Bias at time = 900.00 : -5.18 : Estimated northing and easting = 4074194.20 : 591701.75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161532.49,3648.5622,N,-12158.2948,W,1,03,00.5,066.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161533.49,3648.5621,N,-12158.2959,W,1,03,00.5,067.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161534.49,3648.5620,N,-12158.2969,W,1,03,00.5,067.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161535.49,3648.5619,N,-12158.2979,W,1,03,00.5,068.8,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 32.88 5.78 19.82 4.03 4.10 0 7358.54 01:33:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161536.49,3648.5618,N,-12158.2989,W,1,03,00.5,069.0,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161537.49,3648.5618,N,-12158.2999,W,1,03,00.5,069.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.64 4.72 17.96 4.04 4.11 0 10651.89 01:33:20 m : AshtechGps::processRecord() - $GPGGA,161539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161538.49,3648.5617,N,-12158.3009,W,1,03,00.5,069.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.035000 : AshtechGps::processRecord() - $GPGGA,161540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161539.49,3648.5616,N,-12158.3018,W,1,03,00.5,070.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4074217.53, 591722.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161540.49,3648.5615,N,-12158.3027,W,1,03,00.5,071.6,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 35.5271 : TerrainNav:: Measurement successfully incorporated from time = 910.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 910.00 : -26.00 : Estimated East Bias at time = 910.00 : -37.00 : Estimated Depth Bias at time = 910.00 : -5.21 : Estimated northing and easting = 4074191.53 : 591685.93 : AshtechGps::processRecord() - $GPGGA,161542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161541.49,3648.5615,N,-12158.3036,W,1,03,00.5,070.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161542.49,3648.5614,N,-12158.3046,W,1,03,00.5,072.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161543.49,3648.5613,N,-12158.3056,W,1,03,00.5,072.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161544.49,3648.5613,N,-12158.3065,W,1,03,00.5,072.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161545.49,3648.5612,N,-12158.3075,W,1,03,00.5,074.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.91 5.32 19.82 4.04 4.10 0 7357.86 01:33:28 m : AshtechGps::processRecord() - $GPGGA,161547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161546.49,3648.5611,N,-12158.3084,W,1,03,00.5,075.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161547.49,3648.5610,N,-12158.3093,W,1,03,00.5,075.9,M,-99.9,M,,*4a : BluefinBatt Reply: $b6q0 d- 32.71 3.67 17.96 4.04 4.11 0 10651.58 41>37z30"í : AshtechGps::processRecord() - $GPGGA,161549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161548.49,3648.5609,N,-12158.3102,W,1,03,00.5,075.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,161550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161549.49,3648.5608,N,-12158.3112,W,1,03,00.5,076.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4074215.90, 591708.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161550.49,3648.5607,N,-12158.3123,W,1,03,00.5,076.8,M,-99.9,M,,*42 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 11.8606 : TerrainNav:: Measurement successfully incorporated from time = 920.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 920.00 : -26.00 : Estimated East Bias at time = 920.00 : -37.00 : Estimated Depth Bias at time = 920.00 : -5.23 : Estimated northing and easting = 4074189.90 : 591671.77 : AshtechGps::processRecord() - $GPGGA,161552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161551.49,3648.5607,N,-12158.3131,W,1,03,00.5,078.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161552.49,3648.5606,N,-12158.3137,W,1,03,00.5,086.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161553.49,3648.5604,N,-12158.3145,W,1,03,00.5,079.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161554.49,3648.5603,N,-12158.3155,W,1,03,00.5,078.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161555.49,3648.5602,N,-12158.3164,W,1,03,00.5,079.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.88 5.13 19.82 4.04 4.10 0 7357.49 01:33:38 m : AshtechGps::processRecord() - $GPGGA,161557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161556.49,3648.5601,N,-12158.3173,W,1,03,00.5,079.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161557.49,3648.5600,N,-12158.3180,W,1,03,00.5,079.6,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.67 3.91 17.96 4.04 4.11 0 10651.17 01:33:40 m : AshtechGps::processRecord() - $GPGGA,161559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161558.49,3648.5600,N,-12158.3187,W,1,03,00.5,078.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,161600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161559.49,3648.5599,N,-12158.3197,W,1,03,00.5,078.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4074213.98, 591696.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161600.49,3648.5598,N,-12158.3207,W,1,03,00.5,077.6,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 33.9655 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav:: Measurement successfully incorporated from time = 930.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161601.49,3648.5597,N,-12158.3216,W,1,03,00.5,075.8,M,-99.9,M,,*49 : Estimated North Bias at time = 930.00 : -26.00 : Estimated East Bias at time = 930.00 : -37.00 : Estimated Depth Bias at time = 930.00 : -5.25 : Estimated northing and easting = 4074187.98 : 591659.29 : AshtechGps::processRecord() - $GPGGA,161603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161602.49,3648.5596,N,-12158.3225,W,1,03,00.5,082.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161603.49,3648.5595,N,-12158.3231,W,1,03,00.5,080.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161604.49,3648.5594,N,-12158.3238,W,1,03,00.5,080.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161605.49,3648.5593,N,-12158.3246,W,1,03,00.5,079.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.91 5.13 19.72 4.04 4.11 0 7356.85 01:33:48 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161606.49,3648.5592,N,-12158.3253,W,1,03,00.5,078.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161607.49,3648.5590,N,-12158.3262,W,1,03,00.5,078.7,M,-99.9,M,,*49 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.71  3®57 17.96(4.04 4.11 0 10650.89 01:33:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161608.49,3648.5589,N,-12158.3270,W,1,03,00.5,079.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161609.49,3648.5588,N,-12158.3276,W,1,03,00.5,080.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4074211.89, 591684.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161610.49,3648.5588,N,-12158.3283,W,1,03,00.5,079.6,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 29.0961 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 940.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 940.00 : -26.00 : Estimated East Bias at time = 940.00 : -36.00 : Estimated Depth Bias at time = 940.00 : -5.26 : Estimated northing and easting = 4074185.89 : 591648.79 : AshtechGps::processRecord() - $GPGGA,161612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161611.49,3648.5588,N,-12158.3291,W,1,03,00.5,078.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161612.49,3648.5587,N,-12158.3298,W,1,03,00.5,078.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161613.49,3648.5585,N,-12158.3305,W,1,03,00.5,080.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161614.49,3648.5583,N,-12158.3312,W,1,03,00.5,079.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161615.49,3648.5583,N,-12158.3319,W,1,03,00.5,078.8,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 32.80 7.00 19.62 4.04 4.11 0 7356.41 01:33:58 m : AshtechGps::processRecord() - $GPGGA,161617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161616.49,3648.5582,N,-12158.3327,W,1,03,00.5,078.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161617.49,3648.5582,N,-12158.3335,W,1,03,00.5,079.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b6q0 d- 32.64 4.12 17.87 4.03 4.10 0 10650.44`61:³4:00 m : AshtechGps::processRecord() - $GPGGA,161619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161618.49,3648.5581,N,-12158.3342,W,1,03,00.5,081.5,M,-99.9,M,,*40 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.035000 : AshtechGps::processRecord() - $GPGGA,161620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161619.49,3648.5579,N,-12158.3348,W,1,03,00.5,078.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4074209.93, 591674.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161620.49,3648.5577,N,-12158.3355,W,1,03,00.5,078.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 11.5842 : TerrainNav:: Measurement successfully incorporated from time = 949.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 949.99 : -26.00 : Estimated East Bias at time = 949.99 : -36.00 : Estimated Depth Bias at time = 949.99 : -5.28 : Estimated northing and easting = 4074183.93 : 591638.07 : AshtechGps::processRecord() - $GPGGA,161622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161621.50,3648.5576,N,-12158.3362,W,1,03,00.5,079.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161622.50,3648.5575,N,-12158.3370,W,1,03,00.5,077.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161623.50,3648.5575,N,-12158.3378,W,1,03,00.5,079.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161624.50,3648.5573,N,-12158.3384,W,1,03,00.5,079.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161625.50,3648.5572,N,-12158.3391,W,1,03,00.5,079.6,M,-99.9,M,,*40 : BluefinBatt Reply: $b3q0 d- 32.80 7.15 19.62 4.03 4.10 0 7355.78 01:34:08 m : AshtechGps::processRecord() - $GPGGA,161627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161626.50,3648.5571,N,-12158.3399,W,1,03,00.5,079.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161627.50,3648.5570,N,-12158.3406,W,1,03,00.5,079.1,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.67 3.88 17.87 4.03 4.30 0 10650.15 01:34:10 m : AshtechGps::processRecord() - $GPGGA,161629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161628.50,3648.5569,N,-12158.3413,W,1,03,00.5,079.7,M,-99.9,M,,*4b : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161629.50,3648.5568,N,-12158.3420,W,1,03,00.5,079.7,M,-99.9,M,,*4b : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4074207.87, 591663.34) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161630.50,3648.5566,N,-12158.3427,W,1,03,00.5,081.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 13.7367 : TerrainNav:: Measurement successfully incorporated from time = 959.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 959.99 : -40.00 : Estimated East Bias at time = 959.99 : -34.00 : Estimated Depth Bias at time = 959.99 : -5.35 : Estimated northing and easting = 4074167.87 : 591629.34 : AshtechGps::processRecord() - $GPGGA,161632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161631.50,3648.5565,N,-12158.3435,W,1,03,00.5,079.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161632.50,3648.5564,N,-12158.3442,W,1,03,00.5,080.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161633.50,3648.5564,N,-12158.3449,W,1,03,00.5,079.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161634.50,3648.5563,N,-12158.3458,W,1,03,00.5,078.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161635.50,3648.5562,N,-12158.3466,W,1,03,00.5,079.0,M,-99.9,M,,*49 : BluefinBatt Reply: $b3q0 d- 32.84 6.08 19.62 4.03 4.10 0 7355.33 01:34:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161636.50,3648.5560,N,-12158.3471,W,1,03,00.5,080.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161637.50,3648.5559,N,-12158.3476,W,1,03,00.5,080.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 dm 32.67 3.53 q7.96 4.03 4.11 0 10649.69 01:34:20 m : AshtechGps::processRecord() - $GPGGA,161639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161638.50,3648.5558,N,-12158.3484,W,1,03,00.5,078.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161639.50,3648.5558,N,-12158.3492,W,1,03,00.5,078.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4074205.90, 591652.60) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161640.50,3648.5556,N,-12158.3500,W,1,03,00.5,082.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 11.4869 : TerrainNav:: Measurement successfully incorporated from time = 969.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 969.99 : -41.00 : Estimated East Bias at time = 969.99 : -33.00 : Estimated Depth Bias at time = 969.99 : -5.36 : Estimated northing and easting = 4074164.90 : 591619.60 : AshtechGps::processRecord() - $GPGGA,161642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161641.50,3648.5554,N,-12158.3507,W,1,03,00.5,078.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161642.50,3648.5554,N,-12158.3512,W,1,03,00.5,081.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161643.50,3648.5553,N,-12158.3520,W,1,03,00.5,079.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161644.50,3648.5552,N,-12158.3529,W,1,03,00.5,078.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161645.50,3648.5551,N,-12158.3537,W,1,03,00.5,079.2,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.88 5.97 19.72 4.03 4.10 0 7354.68 01:34:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161646.50,3648.5550,N,-12158.3543,W,1,03,00.5,081.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161647.50,3648.5549,N,-12158.3548,W,1,03,00.5,080.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.67 3.67 1w.x7 4.03 4.11 r 10649.40 01:34:30 m : AshtechGps::processRecord() - $GPGGA,161649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161648.50,3648.5548,N,-12158.3557,W,1,03,00.5,079.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161649.50,3648.5548,N,-12158.3564,W,1,03,00.5,079.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4074204.14, 591642.00) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161650.50,3648.5548,N,-12158.3571,W,1,03,00.5,080.9,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 12.8412 : TerrainNav:: Measurement successfully incorporated from time = 980.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 980.00 : -41.00 : Estimated East Bias at time = 980.00 : -34.00 : Estimated Depth Bias at time = 980.00 : -5.36 : Estimated northing and easting = 4074163.14 : 591608.00 : AshtechGps::processRecord() - $GPGGA,161652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161651.50,3648.5547,N,-12158.3578,W,1,03,00.5,080.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161652.50,3648.5546,N,-12158.3584,W,1,03,00.5,079.6,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161653.50,3648.5545,N,-12158.3592,W,1,03,00.5,079.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161654.50,3648.5543,N,-12158.3600,W,1,03,00.5,080.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161655.50,3648.5542,N,-12158.3609,W,1,03,00.5,078.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.88 5.62 19.72 4.03 4.10 0 7354.22 01:34:38 m : AshtechGps::processRecord() - $GPGGA,161657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161656.50,3648.5540,N,-12158.3615,W,1,03,00.5,080.6,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161657.50,3648.5539,N,-12158.3622,W,1,03,00.5,079.7,M,-99.9,M,,*46 : BluefinBatt::sample() - Only parsed 4 from reply $4.04 4.11 0 10648.93 01:34:40 m : AshtechGps::processRecord() - $GPGGA,161659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161658.50,3648.5538,N,-12158.3629,W,1,03,00.5,079.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161659.50,3648.5537,N,-12158.3638,W,1,03,00.5,078.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4074201.87, 591631.07) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161700.50,3648.5536,N,-12158.3645,W,1,03,00.5,078.5,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 10.9320 : TerrainNav:: Measurement successfully incorporated from time = 990.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 990.00 : -41.00 : Estimated East Bias at time = 990.00 : -34.00 : Estimated Depth Bias at time = 990.00 : -5.37 : Estimated northing and easting = 4074160.87 : 591597.07 : AshtechGps::processRecord() - $GPGGA,161702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161701.50,3648.5535,N,-12158.3650,W,1,03,00.5,081.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161702.50,3648.5534,N,-12158.3656,W,1,03,00.5,079.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161703.50,3648.5533,N,-12158.3661,W,1,03,00.5,079.5,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161704.50,3648.5532,N,-12158.3670,W,1,03,00.5,079.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161705.50,3648.5531,N,-12158.3679,W,1,03,00.5,078.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.88 6.00 19.82 4.03 4.10 0 7353.49 01:34:48 m : AshtechGps::processRecord() - $GPGGA,161707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161706.50,3648.5530,N,-12158.3686,W,1,03,00.5,080.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161707.49,3648.5529,N,-12158.3693,W,1,03,00.5,080.4,M,-99.9,M,,*44 : BluefinBatt Reply: $b4q0 d- 32.67 3.70 17.87 4.04 4.11 0 10648.63 01:34:50 m : AshtechGps::processRecord() - $GPGGA,161709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161708.49,3648.5528,N,-12158.3698,W,1,03,00.5,080.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.035000 : AshtechGps::processRecord() - $GPGGA,161710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161709.49,3648.5526,N,-12158.3705,W,1,03,00.5,080.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4074199.71, 591620.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161710.49,3648.5525,N,-12158.3714,W,1,03,00.5,078.0,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 14.2667 : TerrainNav:: Measurement successfully incorporated from time = 1000.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161711.49,3648.5524,N,-12158.3723,W,1,03,00.5,079.7,M,-99.9,M,,*41 : Estimated North Bias at time = 1000.00 : -41.00 : Estimated East Bias at time = 1000.00 : -34.00 : Estimated Depth Bias at time = 1000.00 : -5.38 : Estimated northing and easting = 4074158.71 : 591586.93 : AshtechGps::processRecord() - $GPGGA,161713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161712.49,3648.5524,N,-12158.3731,W,1,03,00.5,079.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161713.49,3648.5522,N,-12158.3737,W,1,03,00.5,080.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161714.49,3648.5521,N,-12158.3745,W,1,03,00.5,079.5,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161715.49,3648.5519,N,-12158.3751,W,1,03,00.5,078.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.88 5.36 19.82 4.03 4.10 0 7353.09 01:34:58 m : AshtechGps::processRecord() - $GPGGA,161717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161716.49,3648.5519,N,-12158.3758,W,1,03,00.5,081.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161717.49,3648.5519,N,-12158.3764,W,1,03,00.5,080.2,M,-99.9,M,,*49 : BluefinBatt::sample() - Only parsed 1 from reply $c4q0 d- 32.6w 3.46 17.87 4.04 4.11 0 10648.18 01:35z00 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161718.49,3648.5518,N,-12158.3771,W,1,03,00.5,080.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161719.49,3648.5518,N,-12158.3778,W,1,03,00.5,079.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4074198.02, 591610.26) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161720.49,3648.5516,N,-12158.3785,W,1,03,00.5,079.7,M,-99.9,M,,*4e : TerrainNav::Minimum Correlation Error: 11.3349 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1010.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1010.00 : -39.00 : Estimated East Bias at time = 1010.00 : -46.00 : Estimated Depth Bias at time = 1010.00 : -5.40 : Estimated northing and easting = 4074159.02 : 591564.26 : AshtechGps::processRecord() - $GPGGA,161722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161721.49,3648.5515,N,-12158.3792,W,1,03,00.5,079.4,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161722.49,3648.5515,N,-12158.3800,W,1,03,00.5,079.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161723.49,3648.5514,N,-12158.3807,W,1,03,00.5,078.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161724.49,3648.5513,N,-12158.3813,W,1,03,00.5,081.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161725.49,3648.5510,N,-12158.3819,W,1,03,00.5,081.9,M,-99.9,M,,*4e : BluefinBatt Reply: $b3q0 d- 32.88 5.78 19.92 4.03 4.10 0 7352.40 01:35:08 m : AshtechGps::processRecord() - $GPGGA,161727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161726.49,3648.5509,N,-12158.3828,W,1,03,00.5,077.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161727.49,3648.5508,N,-12158.3837,W,1,03,00.5,079.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.67 <.09 17.9> 4.p4 4.±1 0 1°6š7.96001:35:10 m : AshtechGps::processRecord() - $GPGGA,161729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161728.49,3648.5506,N,-12158.3843,W,1,03,00.5,082.9,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161729.49,3648.5505,N,-12158.3849,W,1,03,00.5,080.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4074195.74, 591599.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161730.49,3648.5505,N,-12158.3855,W,1,03,00.5,080.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 13.3335 : TerrainNav:: Measurement successfully incorporated from time = 1020.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1020.00 : -40.00 : Estimated East Bias at time = 1020.00 : -36.00 : Estimated Depth Bias at time = 1020.00 : -5.40 : Estimated northing and easting = 4074155.74 : 591563.86 : AshtechGps::processRecord() - $GPGGA,161732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161731.49,3648.5504,N,-12158.3862,W,1,03,00.5,080.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161732.49,3648.5503,N,-12158.3870,W,1,03,00.5,078.3,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161733.49,3648.5503,N,-12158.3878,W,1,03,00.5,079.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161734.49,3648.5501,N,-12158.3885,W,1,03,00.5,080.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161735.49,3648.5500,N,-12158.3890,W,1,03,00.5,080.9,M,-99.9,M,,*4e : BluefinBatt Reply: $b3q0 d- 32.88 5.51 19.92 4.03 4.10 0 7351.98 01:35:18 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161736.49,3648.5499,N,-12158.3896,W,1,03,00.5,079.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161737.49,3648.5498,N,-12158.3905,W,1,03,00.5,079.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.67 3.88 17.87 4.04 4.11 0 10647.47001>35:20 m : AshtechGps::processRecord() - $GPGGA,161739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161738.49,3648.5497,N,-12158.3914,W,1,03,00.5,078.5,M,-99.9,M,,*4a : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.035000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161739.49,3648.5496,N,-12158.3920,W,1,03,00.5,081.4,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4074193.81, 591589.29) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161740.49,3648.5495,N,-12158.3926,W,1,03,00.5,080.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 10.6453 : TerrainNav:: Measurement successfully incorporated from time = 1030.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1030.00 : -40.00 : Estimated East Bias at time = 1030.00 : -37.00 : Estimated Depth Bias at time = 1030.00 : -5.41 : Estimated northing and easting = 4074153.81 : 591552.29 : AshtechGps::processRecord() - $GPGGA,161742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161741.49,3648.5493,N,-12158.3934,W,1,03,00.5,079.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161742.49,3648.5492,N,-12158.3943,W,1,03,00.5,079.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161743.49,3648.5491,N,-12158.3952,W,1,03,00.5,080.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161744.49,3648.5490,N,-12158.3960,W,1,03,00.5,079.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161745.49,3648.5488,N,-12158.3966,W,1,03,00.5,079.5,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 32.88 5.28 19.92 4.03 4.10 0 7351.28 01:35:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161746.49,3648.5487,N,-12158.3972,W,1,03,00.5,080.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161747.49,3648.5487,N,-12158.3980,W,1,03,00.5,078.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 0 from reply $b6q0 d- ³².71 3.84 1?.87 4.04 4.11 0 10647.19 01:35:30(m : AshtechGps::processRecord() - $GPGGA,161749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161748.49,3648.5486,N,-12158.3989,W,1,03,00.5,080.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161749.49,3648.5486,N,-12158.3996,W,1,03,00.5,079.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4074191.81, 591577.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : NMEA Update: $GPGGA,161750.49,3648.5485,N,-12158.4002,W,1,03,00.5,080.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 1040.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.06 : Estimated North Bias at time = 1040.00 : -41.00 : Estimated East Bias at time = 1040.00 : -35.00 : Estimated Depth Bias at time = 1040.00 : -5.42 : Estimated northing and easting = 4074150.81 : 591542.99 : AshtechGps::processRecord() - $GPGGA,161752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161751.49,3648.5485,N,-12158.4009,W,1,03,00.5,079.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161752.49,3648.5483,N,-12158.4016,W,1,03,00.5,078.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161753.49,3648.5483,N,-12158.4023,W,1,03,00.5,079.7,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161754.49,3648.5481,N,-12158.4030,W,1,03,00.5,080.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161755.49,3648.5480,N,-12158.4038,W,1,03,00.5,079.2,M,-99.9,M,,*41 : BluefinBatt Reply: $b3q0 d- 32.88 5.58 20.01 4.03 4.10 0 7350.84 01:35:38 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161756.49,3648.5478,N,-12158.4045,W,1,03,00.5,079.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161757.49,3648.5476,N,-12158.4052,W,1,03,00.5,080.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.›7 4.58 17.87 4.03 4.11 0 10646.75 01:35:40 m : AshtechGps::processRecord() - $GPGGA,161759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161758.49,3648.5474,N,-12158.4060,W,1,03,00.5,079.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161759.49,3648.5473,N,-12158.4069,W,1,03,00.5,077.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4074189.33, 591567.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161800.49,3648.5472,N,-12158.4076,W,1,03,00.5,081.8,M,-99.9,M,,*44 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 1050.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.04 : Estimated North Bias at time = 1050.00 : -41.00 : Estimated East Bias at time = 1050.00 : -35.00 : Estimated Depth Bias at time = 1050.00 : -5.42 : Estimated northing and easting = 4074148.33 : 591532.12 : AshtechGps::processRecord() - $GPGGA,161802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161801.49,3648.5471,N,-12158.4082,W,1,03,00.5,080.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161802.49,3648.5470,N,-12158.4089,W,1,03,00.5,081.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161803.49,3648.5471,N,-12158.4095,W,1,03,00.5,080.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161804.49,3648.5471,N,-12158.4102,W,1,03,00.5,081.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161805.49,3648.5471,N,-12158.4108,W,1,03,00.5,080.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.88 5.43 20.01 4.03 4.10 0 7350.16 01:35:48 m : AshtechGps::processRecord() - $GPGGA,161807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161806.49,3648.5471,N,-12158.4115,W,1,03,00.5,080.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161807.49,3648.5471,N,-12158.4123,W,1,03,00.5,080.2,M,-99.9,M,,*4a : BluefinBatt Reply: $b4q0 d- 32.67 3.63 17.87 4.03 4.11 0 10646.49 0q:35:50 m : AshtechGps::processRecord() - $GPGGA,161809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161808.49,3648.5469,N,-12158.4131,W,1,03,00.5,080.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,161810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161809.49,3648.5468,N,-12158.4139,W,1,03,00.5,078.7,M,-99.9,M,,*45 : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4074188.13, 591556.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161810.49,3648.5465,N,-12158.4145,W,1,03,00.5,081.2,M,-99.9,M,,*48 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 1060.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1060.00 : -41.00 : Estimated East Bias at time = 1060.00 : -35.00 : Estimated Depth Bias at time = 1060.00 : -5.43 : Estimated northing and easting = 4074147.13 : 591521.86 : AshtechGps::processRecord() - $GPGGA,161812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161811.49,3648.5463,N,-12158.4151,W,1,03,00.5,080.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161812.49,3648.5461,N,-12158.4160,W,1,03,00.5,078.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161813.49,3648.5459,N,-12158.4168,W,1,03,00.5,079.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161814.49,3648.5459,N,-12158.4177,W,1,03,00.5,080.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161815.49,3648.5459,N,-12158.4183,W,1,03,00.5,081.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.80 6.46 20.01 4.03 4.10 0 7349.78 01:35:58 m : AshtechGps::processRecord() - $GPGGA,161817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161816.49,3648.5459,N,-12158.4188,W,1,03,00.5,083.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161817.49,3648.5458,N,-12158.4193,W,1,03,00.5,081.1,M,-99.9,M,,*49 : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.67 3.57 17.87 4.03!4/11 0 10646>03 01:s6:00 m : AshtechGps::processRecord() - $GPGGA,161819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161818.49,3648.5458,N,-12158.4200,W,1,03,00.5,079.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,161819.49,3648.5457,N,-12158.4208,W,1,03,00.5,079.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4074186.05, 591546.34) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161820.49,3648.5455,N,-12158.4216,W,1,03,00.5,079.4,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 1070.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1070.00 : -44.00 : Estimated East Bias at time = 1070.00 : 30.00 : Estimated Depth Bias at time = 1070.00 : -5.44 : Estimated northing and easting = 4074142.05 : 591576.34 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161821.49,3648.5453,N,-12158.4222,W,1,03,00.5,084.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161822.49,3648.5452,N,-12158.4228,W,1,03,00.5,080.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161823.49,3648.5451,N,-12158.4236,W,1,03,00.5,079.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161824.49,3648.5449,N,-12158.4243,W,1,03,00.5,080.3,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161825.49,3648.5447,N,-12158.4252,W,1,03,00.5,080.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.88 5.51 20.11 4.03 4.10 0 7349.08 01:36:08 m : AshtechGps::processRecord() - $GPGGA,161827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161826.49,3648.5446,N,-12158.4259,W,1,03,00.5,079.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161827.49,3648.5445,N,-12158.4266,W,1,03,00.5,079.5,M,-99.9,M,,*4c : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.64 4.19 q7.87 4.0s 4.11 0 10645.76 01:36:10 m  : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161828.49,3648.5445,N,-12158.4271,W,1,03,00.5,082.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161829.49,3648.5445,N,-12158.4277,W,1,03,00.5,081.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4074183.83, 591536.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,161831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161830.49,3648.5444,N,-12158.4285,W,1,03,00.5,079.1,M,-99.9,M,,*42 : TerrainNav::Minimum Correlation Error: 30.9091 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1080.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : AshtechGps::processRecord() - $GPGGA,161832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161831.49,3648.5442,N,-12158.4293,W,1,03,00.5,080.5,M,-99.9,M,,*40 : Estimated North Bias at time = 1080.00 : -44.00 : Estimated East Bias at time = 1080.00 : 30.00 : Estimated Depth Bias at time = 1080.00 : -5.46 : Estimated northing and easting = 4074139.83 : 591566.15 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161832.49,3648.5441,N,-12158.4300,W,1,03,00.5,081.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161833.49,3648.5440,N,-12158.4306,W,1,03,00.5,081.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161834.49,3648.5438,N,-12158.4314,W,1,03,00.5,080.1,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161835.49,3648.5436,N,-12158.4320,W,1,03,00.5,080.9,M,-99.9,M,,*42 : BluefinBatt Reply: $b3q0 d- 32.80 6.61 20.11 4.03 4.10 0 7348.67 01:36:18 m : AshtechGps::processRecord() - $GPGGA,161837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161836.49,3648.5435,N,-12158.4327,W,1,03,00.5,080.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161837.49,3648.5434,N,-12158.4335,W,1,03,00.5,078.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32/67 ;.98 17.87 4.03 4.11 4 10645.31 11:36:20 m : AshtechGps::processRecord() - $GPGGA,161839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161838.49,3648.5434,N,-12158.4344,W,1,03,00.5,081.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161839.49,3648.5433,N,-12158.4351,W,1,03,00.5,082.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4074181.65, 591525.30) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161840.49,3648.5433,N,-12158.4358,W,1,03,00.5,080.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 14.6866 : TerrainNav:: Measurement successfully incorporated from time = 1090.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1090.00 : -43.00 : Estimated East Bias at time = 1090.00 : 29.00 : Estimated Depth Bias at time = 1090.00 : -5.47 : Estimated northing and easting = 4074138.65 : 591554.30 : AshtechGps::processRecord() - $GPGGA,161842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161841.49,3648.5432,N,-12158.4363,W,1,03,00.5,082.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161842.49,3648.5430,N,-12158.4369,W,1,03,00.5,081.2,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161843.49,3648.5429,N,-12158.4377,W,1,03,00.5,079.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161844.49,3648.5429,N,-12158.4386,W,1,03,00.5,079.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161845.49,3648.5427,N,-12158.4393,W,1,03,00.5,081.6,M,-99.9,M,,*43 : BluefinBatt Reply: $b3q0 d- 32.80 6.42 20.11 4.03 4.10 0 7347.94 01:36:28 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161846.49,3648.5425,N,-12158.4398,W,1,03,00.5,080.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161847.50,3648.5423,N,-12158.4405,W,1,03,00.5,080.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.67 3.70 17.77 4.03 4.11 0 1°644.98 01:36:30 m : AshtechGps::processRecord() - $GPGGA,161849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161848.50,3648.5421,N,-12158.4412,W,1,03,00.5,080.6,M,-99.9,M,,*4f : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161849.50,3648.5420,N,-12158.4421,W,1,03,00.5,079.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4074178.98, 591514.76) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161850.50,3648.5419,N,-12158.4430,W,1,03,00.5,080.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 37.6361 : TerrainNav:: Measurement successfully incorporated from time = 1099.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.15 : Estimated North Bias at time = 1099.99 : -49.00 : Estimated East Bias at time = 1099.99 : 36.00 : Estimated Depth Bias at time = 1099.99 : -5.53 : Estimated northing and easting = 4074129.98 : 591550.76 : AshtechGps::processRecord() - $GPGGA,161852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161851.50,3648.5418,N,-12158.4436,W,1,03,00.5,081.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161852.50,3648.5417,N,-12158.4443,W,1,03,00.5,081.4,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161853.50,3648.5417,N,-12158.4451,W,1,03,00.5,081.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161854.50,3648.5417,N,-12158.4459,W,1,03,00.5,079.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161855.50,3648.5416,N,-12158.4466,W,1,03,00.5,080.2,M,-99.9,M,,*40 : BluefinBatt Reply: $b3q0 d- 32.84 6.42 20.21 4.03 4.10 0 7347.54 01:36:38 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161856.50,3648.5415,N,-12158.4471,W,1,03,00.5,081.8,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161857.50,3648.5414,N,-12158.4476,W,1,03,00.5,082.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.64 3.98 17.77 4.03 4.11 0 10644.52 11:36:40 } : AshtechGps::processRecord() - $GPGGA,161859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161858.50,3648.5413,N,-12158.4484,W,1,03,00.5,079.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,161900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161859.50,3648.5412,N,-12158.4493,W,1,03,00.5,079.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4074177.35, 591504.28) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161900.50,3648.5410,N,-12158.4499,W,1,03,00.5,079.8,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 1109.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.08 : Estimated North Bias at time = 1109.99 : -49.00 : Estimated East Bias at time = 1109.99 : 37.00 : Estimated Depth Bias at time = 1109.99 : -5.55 : Estimated northing and easting = 4074128.35 : 591541.28 : AshtechGps::processRecord() - $GPGGA,161902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161901.50,3648.5409,N,-12158.4506,W,1,03,00.5,081.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161902.50,3648.5407,N,-12158.4512,W,1,03,00.5,081.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161903.50,3648.5405,N,-12158.4520,W,1,03,00.5,079.2,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161904.50,3648.5404,N,-12158.4529,W,1,03,00.5,080.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161905.50,3648.5402,N,-12158.4537,W,1,03,00.5,079.9,M,-99.9,M,,*49 : BluefinBatt Reply: $b3q0 d- 32.76 6.76 20.21 4.03 4.10 0 7346.82 01:36:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161906.50,3648.5400,N,-12158.4545,W,1,03,00.5,081.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161907.50,3648.5400,N,-12158.4551,W,1,03,00.5,082.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.64 3.67 17.77 <.03 4.11 0 30644.23 01:36:50 m : AshtechGps::processRecord() - $GPGGA,161909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161908.50,3648.5400,N,-12158.4559,W,1,03,00.5,079.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161909.50,3648.5400,N,-12158.4566,W,1,03,00.5,080.0,M,-99.9,M,,*4c : TerrainNav update at nav time = 1119.993275 : TerrainNav update at dvl time = 1119.993275 : _navData-> (x,y) = (4074175.09, 591493.57) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161910.50,3648.5399,N,-12158.4571,W,1,03,00.5,084.2,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 1119.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.07 : Estimated North Bias at time = 1119.99 : -49.00 : Estimated East Bias at time = 1119.99 : 37.00 : Estimated Depth Bias at time = 1119.99 : -5.56 : Estimated northing and easting = 4074126.09 : 591530.57 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161911.50,3648.5399,N,-12158.4578,W,1,03,00.5,079.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161912.50,3648.5398,N,-12158.4585,W,1,03,00.5,080.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161913.50,3648.5397,N,-12158.4591,W,1,03,00.5,082.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161914.50,3648.5395,N,-12158.4598,W,1,03,00.5,081.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161915.50,3648.5393,N,-12158.4606,W,1,03,00.5,079.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 6.31 20.21 4.03 4.10 0 7346.34 01:36:58 m : AshtechGps::processRecord() - $GPGGA,161917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161916.50,3648.5391,N,-12158.4613,W,1,03,00.5,080.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161917.50,3648.5389,N,-12158.4622,W,1,03,00.5,080.7,M,-99.9,M,,*41 : BluefinBatt Reply: $b4q0 d- 32.64 3.95 37.87 4.0304.50 0 10¶43n76 01:37z00 m : AshtechGps::processRecord() - $GPGGA,161919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161918.50,3648.5388,N,-12158.4630,W,1,03,00.5,081.6,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030200 : AshtechGps::processRecord() - $GPGGA,161920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161919.50,3648.5386,N,-12158.4636,W,1,03,00.5,081.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 1130.002590 : TerrainNav update at dvl time = 1130.002590 : _navData-> (x,y) = (4074172.26, 591482.98) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161920.50,3648.5384,N,-12158.4643,W,1,03,00.5,079.8,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 7.0663 : TerrainNav:: Measurement successfully incorporated from time = 1130.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.06 : Estimated North Bias at time = 1130.00 : -49.00 : Estimated East Bias at time = 1130.00 : 37.00 : Estimated Depth Bias at time = 1130.00 : -5.57 : Estimated northing and easting = 4074123.26 : 591519.98 : AshtechGps::processRecord() - $GPGGA,161922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161921.50,3648.5383,N,-12158.4650,W,1,03,00.5,081.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161922.50,3648.5383,N,-12158.4657,W,1,03,00.5,080.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161923.50,3648.5383,N,-12158.4665,W,1,03,00.5,080.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161924.50,3648.5383,N,-12158.4671,W,1,03,00.5,081.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161925.50,3648.5382,N,-12158.4677,W,1,03,00.5,083.8,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.76 7.03 20.21 4.02 4.09 0 7345.70 01:37:08 m : AshtechGps::processRecord() - $GPGGA,161927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161926.50,3648.5381,N,-12158.4683,W,1,03,00.5,081.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161927.50,3648.5380,N,-12158.4690,W,1,03,00.5,081.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161928.50,3648.5379,N,-12158.4698,W,1,03,00.5,080.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161929.50,3648.5378,N,-12158.4706,W,1,03,00.5,080.5,M,-99.9,M,,*47 : BluefinBatt::sample()-caught read() exception: Timed Out (,b4q0 d- 32.67 `3.74 ±7.77 4.03 4.10 0 10643.45 01:37:10 m ) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4074170.79, 591472.54) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161930.50,3648.5377,N,-12158.4714,W,1,03,00.5,081.3,M,-99.9,M,,*44 : TerrainNav::Minimum Correlation Error: 8.0893 : TerrainNav:: Measurement successfully incorporated from time = 1140.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.05 : Estimated North Bias at time = 1140.00 : -49.00 : Estimated East Bias at time = 1140.00 : 37.00 : Estimated Depth Bias at time = 1140.00 : -5.58 : Estimated northing and easting = 4074121.79 : 591509.54 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161931.50,3648.5375,N,-12158.4721,W,1,03,00.5,080.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161932.50,3648.5373,N,-12158.4729,W,1,03,00.5,080.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161933.49,3648.5372,N,-12158.4735,W,1,03,00.5,082.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161934.49,3648.5371,N,-12158.4742,W,1,03,00.5,081.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161935.49,3648.5370,N,-12158.4749,W,1,03,00.5,080.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.76 7.53 20.21 4.02 4.09 0 7345.21 01:37:18 m : AshtechGps::processRecord() - $GPGGA,161937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161936.49,3648.5369,N,-12158.4757,W,1,03,00.5,080.1,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161937.49,3648.5368,N,-12158.4765,W,1,03,00.5,080.1,M,-99.9,M,,*40 : BluefinBatt Reply: $b4q0 d- 32.60 4.16 17.87 4.03 4.10 0 1064².99 01:37:20 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161938.49,3648.5366,N,-12158.4772,W,1,03,00.5,082.1,M,-99.9,M,,*45 : batts online 2, min cell voltage 4.020000, mean min cell voltage 4.025000 : AshtechGps::processRecord() - $GPGGA,161940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161939.49,3648.5366,N,-12158.4779,W,1,03,00.5,082.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4074168.61, 591461.79) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161940.49,3648.5366,N,-12158.4786,W,1,03,00.5,080.7,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 21.2167 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1150.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.05 : Estimated North Bias at time = 1150.00 : -49.00 : Estimated East Bias at time = 1150.00 : 37.00 : Estimated Depth Bias at time = 1150.00 : -5.60 : Estimated northing and easting = 4074119.61 : 591498.79 : AshtechGps::processRecord() - $GPGGA,161942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161941.49,3648.5366,N,-12158.4792,W,1,03,00.5,082.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161942.49,3648.5365,N,-12158.4798,W,1,03,00.5,080.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161943.49,3648.5363,N,-12158.4804,W,1,03,00.5,084.4,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161944.49,3648.5362,N,-12158.4811,W,1,03,00.5,082.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161945.49,3648.5361,N,-12158.4819,W,1,03,00.5,080.1,M,-99.9,M,,*48 : BluefinBatt Reply: $b3q0 d- 32.76 6.96 20.31 4.03 4.10 0 7344.59 01:37:28 m : AshtechGps::processRecord() - $GPGGA,161947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161946.49,3648.5359,N,-12158.4829,W,1,03,00.5,081.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,161948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161947.49,3648.5358,N,-12158.4837,W,1,03,00.5,084.0,M,-99.9,M,,*49 : BluefinBatt Reply: $b4q0 d- 32.56 4.48 17.87 4.03 4.10 0 10v42.73 01:37:30 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161948.49,3648.5356,N,-12158.4842,W,1,03,00.5,082.0,M,-99.9,M,,*4c : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,161950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161949.49,3648.5354,N,-12158.4848,W,1,03,00.5,083.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4074165.90, 591451.59) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,161951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161950.49,3648.5352,N,-12158.4855,W,1,03,00.5,081.0,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 22.4996 : TerrainNav:: Measurement successfully incorporated from time = 1160.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.04 : Estimated North Bias at time = 1160.00 : -49.00 : Estimated East Bias at time = 1160.00 : 37.00 : Estimated Depth Bias at time = 1160.00 : -5.61 : Estimated northing and easting = 4074116.90 : 591488.59 : AshtechGps::processRecord() - $GPGGA,161952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161951.49,3648.5351,N,-12158.4862,W,1,03,00.5,080.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161952.49,3648.5350,N,-12158.4871,W,1,03,00.5,081.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161953.49,3648.5349,N,-12158.4877,W,1,03,00.5,084.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161954.49,3648.5348,N,-12158.4884,W,1,03,00.5,081.5,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161955.49,3648.5347,N,-12158.4891,W,1,03,00.5,079.5,M,-99.9,M,,*4f : BluefinBatt Reply: $b3q0 d- 32.80 6.27 20.31 4.03 4.10 0 7344.13 01:37:38 m : AshtechGps::processRecord() - $GPGGA,161957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161956.49,3648.5346,N,-12158.4897,W,1,03,00.5,081.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161957.49,3648.5346,N,-12158.4903,W,1,03,00.5,080.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.64 4.51 17.96 4.03 4.11 0 10642.25 01:37:40 m : AshtechGps::processRecord() - $GPGGA,161959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161958.49,3648.5346,N,-12158.4911,W,1,03,00.5,080.6,M,-99.9,M,,*4f : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162000.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161959.49,3648.5345,N,-12158.4918,W,1,03,00.5,082.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4074164.36, 591441.20) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162001.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162000.49,3648.5344,N,-12158.4924,W,1,03,00.5,083.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 15.0312 : TerrainNav:: Measurement successfully incorporated from time = 1170.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.04 : Estimated North Bias at time = 1170.00 : -49.00 : Estimated East Bias at time = 1170.00 : 37.00 : Estimated Depth Bias at time = 1170.00 : -5.63 : Estimated northing and easting = 4074115.36 : 591478.20 : AshtechGps::processRecord() - $GPGGA,162002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162001.49,3648.5343,N,-12158.4931,W,1,03,00.5,081.5,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162003.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162002.49,3648.5342,N,-12158.4939,W,1,03,00.5,080.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162004.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162003.49,3648.5340,N,-12158.4947,W,1,03,00.5,082.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162004.49,3648.5338,N,-12158.4954,W,1,03,00.5,083.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162006.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162005.49,3648.5335,N,-12158.4961,W,1,03,00.5,080.6,M,-99.9,M,,*4e : BluefinBatt Reply: $b3q0 d- 32.84 5.25 20.31 4.03 4.10 0 7343.52 01:37:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162007.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162006.49,3648.5333,N,-12158.4969,W,1,03,00.5,081.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162008.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162007.49,3648.5332,N,-12158.4979,W,1,03,00.5,079.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.>0 4.23 17.87 4.03 4.11 0 106´1.97 0q:37:51 m : AshtechGps::processRecord() - $GPGGA,162009.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162008.49,3648.5331,N,-12158.4986,W,1,03,00.5,084.7,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162010.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162009.49,3648.5330,N,-12158.4992,W,1,03,00.5,081.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4074161.47, 591430.36) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162011.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162010.49,3648.5329,N,-12158.4997,W,1,03,00.5,082.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 9.8831 : TerrainNav:: Measurement successfully incorporated from time = 1180.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.03 : Estimated North Bias at time = 1180.00 : -48.00 : Estimated East Bias at time = 1180.00 : 38.00 : Estimated Depth Bias at time = 1180.00 : -5.63 : Estimated northing and easting = 4074113.47 : 591468.36 : AshtechGps::processRecord() - $GPGGA,162012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162011.49,3648.5329,N,-12158.5004,W,1,03,00.5,082.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162013.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162012.49,3648.5329,N,-12158.5011,W,1,03,00.5,081.3,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162013.49,3648.5328,N,-12158.5018,W,1,03,00.5,082.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162015.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162014.49,3648.5328,N,-12158.5026,W,1,03,00.5,081.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162015.49,3648.5326,N,-12158.5033,W,1,03,00.5,082.1,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 32.84 6.08 20.31 4.03 4.10 0 7343.07 01:37:58 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162016.49,3648.5325,N,-12158.5040,W,1,03,00.5,083.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162017.49,3648.5324,N,-12158.5046,W,1,03,00.5,080.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 2 from reply $b4q0 d- 32.64 3.<1 17.87 4.03 <.10 0 10641.51 01:38:00 m- : AshtechGps::processRecord() - $GPGGA,162019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162018.49,3648.5323,N,-12158.5053,W,1,03,00.5,082.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162020.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162019.49,3648.5321,N,-12158.5061,W,1,03,00.5,082.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4074159.49, 591419.86) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162020.49,3648.5319,N,-12158.5069,W,1,03,00.5,079.2,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 48.4175 : TerrainNav:: Measurement successfully incorporated from time = 1190.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.03 : Estimated North Bias at time = 1190.00 : -48.00 : Estimated East Bias at time = 1190.00 : 38.00 : Estimated Depth Bias at time = 1190.00 : -5.65 : Estimated northing and easting = 4074111.49 : 591457.86 : AshtechGps::processRecord() - $GPGGA,162022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162021.49,3648.5317,N,-12158.5077,W,1,03,00.5,083.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162023.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162022.49,3648.5316,N,-12158.5084,W,1,03,00.5,082.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162023.49,3648.5314,N,-12158.5091,W,1,03,00.5,082.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162025.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162024.49,3648.5313,N,-12158.5099,W,1,03,00.5,081.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162025.49,3648.5312,N,-12158.5107,W,1,03,00.5,081.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 6.16 20.31 4.03 4.10 0 7342.37 01:38:08 m : AshtechGps::processRecord() - $GPGGA,162027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162026.49,3648.5311,N,-12158.5113,W,1,03,00.5,084.8,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162027.49,3648.5310,N,-12158.5120,W,1,03,00.5,081.8,M,-99.9,M,,*4a : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.60 4.05 17.87 4.034.10 0 10641.16 01:38:10 m : AshtechGps::processRecord() - $GPGGA,162029.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162028.49,3648.5310,N,-12158.5126,W,1,03,00.5,083.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162030.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162029.49,3648.5309,N,-12158.5132,W,1,03,00.5,082.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4074157.39, 591409.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162030.49,3648.5308,N,-12158.5139,W,1,03,00.5,082.3,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 22.2564 : TerrainNav:: Measurement successfully incorporated from time = 1200.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.03 : Estimated North Bias at time = 1200.00 : -48.00 : Estimated East Bias at time = 1200.00 : 38.00 : Estimated Depth Bias at time = 1200.00 : -5.66 : Estimated northing and easting = 4074109.39 : 591447.40 : AshtechGps::processRecord() - $GPGGA,162032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162031.49,3648.5308,N,-12158.5147,W,1,03,00.5,082.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162032.49,3648.5308,N,-12158.5155,W,1,03,00.5,080.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162034.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162033.49,3648.5306,N,-12158.5161,W,1,03,00.5,083.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162035.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162034.49,3648.5304,N,-12158.5166,W,1,03,00.5,084.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162036.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162035.49,3648.5302,N,-12158.5174,W,1,03,00.5,080.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 5.89 20.31 4.03 4.10 0 7341.95 01:38:18 m : AshtechGps::processRecord() - $GPGGA,162037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162036.49,3648.5301,N,-12158.5183,W,1,03,00.5,080.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162037.49,3648.5299,N,-12158.5190,W,1,03,00.5,084.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.52 5.28 17.87 4.03 4.10 0 10640.70 01:38:20 m : AshtechGps::processRecord() - $GPGGA,162039.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162038.49,3648.5297,N,-12158.5196,W,1,03,00.5,083.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,162040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162039.49,3648.5296,N,-12158.5202,W,1,03,00.5,084.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1209.997110 : TerrainNav update at dvl time = 1209.997110 : _navData-> (x,y) = (4074154.79, 591398.79) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162041.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162040.49,3648.5295,N,-12158.5211,W,1,03,00.5,083.0,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 41.6209 : TerrainNav:: Measurement successfully incorporated from time = 1210.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.03 : Estimated North Bias at time = 1210.00 : -48.00 : Estimated East Bias at time = 1210.00 : 38.00 : Estimated Depth Bias at time = 1210.00 : -5.68 : Estimated northing and easting = 4074106.79 : 591436.79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162042.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162041.49,3648.5294,N,-12158.5218,W,1,03,00.5,081.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162043.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162042.49,3648.5293,N,-12158.5225,W,1,03,00.5,085.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162044.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162043.49,3648.5293,N,-12158.5231,W,1,03,00.5,083.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162045.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162044.49,3648.5293,N,-12158.5237,W,1,03,00.5,083.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162046.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162045.49,3648.5292,N,-12158.5244,W,1,03,00.5,082.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 5.55 20.41 4.03 4.10 0 7341.27 01:38:28 m : AshtechGps::processRecord() - $GPGGA,162047.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162046.49,3648.5291,N,-12158.5251,W,1,03,00.5,084.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162048.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162047.49,3648.5290,N,-12158.5259,W,1,03,00.5,082.6,M,-99.9,M,,*45 : BluefinBatt Reply: $b4q0 d- 32.64 3.50 17.96 4.03 4.10 0 10¶40.37 01:38:30 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162049.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162048.49,3648.5288,N,-12158.5267,W,1,03,00.5,080.9,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : AshtechGps::processRecord() - $GPGGA,162050.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162049.49,3648.5287,N,-12158.5275,W,1,03,00.5,083.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1219.996425 : TerrainNav update at dvl time = 1219.996425 : _navData-> (x,y) = (4074152.91, 591388.10) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162051.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162050.49,3648.5285,N,-12158.5283,W,1,03,00.5,083.6,M,-99.9,M,,*41 : TerrainNav::Minimum Correlation Error: 16.8654 : TerrainNav:: Measurement successfully incorporated from time = 1220.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.03 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 1220.00 : -48.00 : Estimated East Bias at time = 1220.00 : 38.00 : Estimated Depth Bias at time = 1220.00 : -5.69 : Estimated northing and easting = 4074104.91 : 591426.10 : AshtechGps::processRecord() - $GPGGA,162052.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162051.49,3648.5283,N,-12158.5289,W,1,03,00.5,084.9,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162053.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162052.49,3648.5281,N,-12158.5296,W,1,03,00.5,082.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162053.49,3648.5280,N,-12158.5304,W,1,03,00.5,082.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162055.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162054.49,3648.5280,N,-12158.5312,W,1,03,00.5,081.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162055.49,3648.5279,N,-12158.5318,W,1,03,00.5,086.5,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.69 8.14 20.31 4.03 4.10 0 7340.79 01:38:38 m : AshtechGps::processRecord() - $GPGGA,162057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162056.49,3648.5279,N,-12158.5323,W,1,03,00.5,086.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162057.49,3648.5277,N,-12158.5328,W,1,03,00.5,085.1,M,-99.9,M,,*4a : BluefinBatt Reply: $b4q0 d- 32.64 4.86 17.96 4.03 4.10 0 10639.92 01:38:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162059.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162058.49,3648.5276,N,-12158.5334,W,1,03,00.5,082.2,M,-99.9,M,,*4d : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162059.49,3648.5275,N,-12158.5344,W,1,03,00.5,082.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1229.995740 : TerrainNav update at dvl time = 1229.995740 : _navData-> (x,y) = (4074150.77, 591377.81) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162101.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162100.49,3648.5274,N,-12158.5352,W,1,03,00.5,083.6,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 24.0200 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1230.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.03 : Estimated North Bias at time = 1230.00 : -48.00 : Estimated East Bias at time = 1230.00 : 39.00 : Estimated Depth Bias at time = 1230.00 : -5.70 : Estimated northing and easting = 4074102.77 : 591416.81 : AshtechGps::processRecord() - $GPGGA,162102.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162101.49,3648.5272,N,-12158.5358,W,1,03,00.5,087.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162103.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162102.49,3648.5270,N,-12158.5364,W,1,03,00.5,083.6,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162104.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162103.49,3648.5269,N,-12158.5370,W,1,03,00.5,083.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162105.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162104.49,3648.5268,N,-12158.5379,W,1,03,00.5,082.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162106.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162105.49,3648.5267,N,-12158.5387,W,1,03,00.5,083.5,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 32.76 6.54 20.41 4.03 4.10 0 7340.10 01:38:48 m : AshtechGps::processRecord() - $GPGGA,162107.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162106.49,3648.5266,N,-12158.5395,W,1,03,00.5,087.8,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162108.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162107.49,3648.5264,N,-12158.5402,W,1,03,00.5,084.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.60 3.98 17.96 4.03 4.10 0 10639.63 01:38:50!m : AshtechGps::processRecord() - $GPGGA,162109.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162108.49,3648.5263,N,-12158.5408,W,1,03,00.5,084.6,M,-99.9,M,,*47 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162110.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162109.49,3648.5263,N,-12158.5415,W,1,03,00.5,084.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 1239.995054 : TerrainNav update at dvl time = 1239.995054 : _navData-> (x,y) = (4074148.50, 591367.47) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162111.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162110.49,3648.5263,N,-12158.5422,W,1,03,00.5,086.6,M,-99.9,M,,*44 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 21.9296 : TerrainNav:: Measurement successfully incorporated from time = 1240.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1240.00 : -48.00 : Estimated East Bias at time = 1240.00 : 39.00 : Estimated Depth Bias at time = 1240.00 : -5.71 : Estimated northing and easting = 4074100.50 : 591406.47 : AshtechGps::processRecord() - $GPGGA,162112.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162111.49,3648.5261,N,-12158.5429,W,1,03,00.5,086.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162113.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162112.49,3648.5259,N,-12158.5436,W,1,03,00.5,083.9,M,-99.9,M,,*40 : NMEA Update: $GPGGA,162113.30,3648.5258,N,-12158.5442,W,1,03,00.5,085.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162114.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162114.30,3648.5258,N,-12158.5448,W,1,03,00.5,088.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162115.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162115.30,3648.5257,N,-12158.5455,W,1,03,00.5,086.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162116.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.80 5.47 20.41 4.03 4.10 0 7339.71 01:38:58 m : NMEA Update: $GPGGA,162116.30,3648.5255,N,-12158.5464,W,1,03,00.5,082.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162117.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162117.30,3648.5254,N,-12158.5471,W,1,03,00.5,087.9,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162118.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d-`32.60 4.19 17.87 4.03 4.10 0 14639.16 01:39:00 m : NMEA Update: $GPGGA,162118.30,3648.5252,N,-12158.5477,W,1,03,00.5,088.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162119.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : NMEA Update: $GPGGA,162119.30,3648.5251,N,-12158.5482,W,1,03,00.5,084.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162120.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4074145.98, 591357.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162120.30,3648.5250,N,-12158.5489,W,1,03,00.5,085.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162121.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 15.4875 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav:: Measurement successfully incorporated from time = 1249.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1249.99 : -48.00 : Estimated East Bias at time = 1249.99 : 39.00 : Estimated Depth Bias at time = 1249.99 : -5.72 : Estimated northing and easting = 4074097.98 : 591396.25 : NMEA Update: $GPGGA,162121.30,3648.5249,N,-12158.5498,W,1,03,00.5,086.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162122.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162122.30,3648.5248,N,-12158.5507,W,1,03,00.5,084.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162123.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162123.30,3648.5247,N,-12158.5512,W,1,03,00.5,088.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162124.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162124.30,3648.5245,N,-12158.5517,W,1,03,00.5,085.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162125.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162125.30,3648.5244,N,-12158.5524,W,1,03,00.5,086.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162126.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.80 5.51 20.41 4.02 4.09 0 7339.02 01:39:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162126.30,3648.5243,N,-12158.5532,W,1,03,00.5,088.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162127.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162127.30,3648.5243,N,-12158.5540,W,1,03,00.5,086.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162128.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32®64 4.19 17.96 4.03 4.10 0"10638.89 01:39:10 m : NMEA Update: $GPGGA,162128.30,3648.5242,N,-12158.5546,W,1,03,00.5,090.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162129.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162129.30,3648.5240,N,-12158.5551,W,1,03,00.5,090.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162130.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074143.91, 591347.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162130.30,3648.5239,N,-12158.5558,W,1,03,00.5,087.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162131.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 21.8565 : TerrainNav:: Measurement successfully incorporated from time = 1259.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1259.99 : -48.00 : Estimated East Bias at time = 1259.99 : 39.00 : Estimated Depth Bias at time = 1259.99 : -5.73 : Estimated northing and easting = 4074095.91 : 591386.12 : NMEA Update: $GPGGA,162131.30,3648.5238,N,-12158.5565,W,1,03,00.5,086.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162132.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162132.30,3648.5237,N,-12158.5573,W,1,03,00.5,086.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162133.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162133.30,3648.5235,N,-12158.5581,W,1,03,00.5,086.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162134.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162134.30,3648.5233,N,-12158.5588,W,1,03,00.5,090.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162135.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162135.30,3648.5231,N,-12158.5595,W,1,03,00.5,087.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162136.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 5.43 20.41 4.02 4.09 0 7338.61 01:39:18 m : NMEA Update: $GPGGA,162136.30,3648.5230,N,-12158.5602,W,1,03,00.5,088.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162137.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162137.30,3648.5229,N,-12158.5611,W,1,03,00.5,087.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162138.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample() - Only parsed 5 from reply $b4q0 f- 32.60 3.81 17.96 4.07 4.10(0 10638.44 01:39:0 m : NMEA Update: $GPGGA,162138.30,3648.5228,N,-12158.5618,W,1,03,00.5,088.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162139.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162139.30,3648.5227,N,-12158.5625,W,1,03,00.5,090.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162140.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1270.002999 : TerrainNav update at dvl time = 1270.002999 : _navData-> (x,y) = (4074141.28, 591336.29) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162140.30,3648.5226,N,-12158.5630,W,1,03,00.5,089.7,M,-99.9,M,,*41 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162141.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 21.0807 : TerrainNav:: Measurement successfully incorporated from time = 1270.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1270.00 : -48.00 : Estimated East Bias at time = 1270.00 : 40.00 : Estimated Depth Bias at time = 1270.00 : -5.73 : Estimated northing and easting = 4074093.28 : 591376.29 : NMEA Update: $GPGGA,162141.30,3648.5224,N,-12158.5635,W,1,03,00.5,090.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162142.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162142.30,3648.5224,N,-12158.5641,W,1,03,00.5,088.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162143.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162143.30,3648.5224,N,-12158.5649,W,1,03,00.5,086.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162144.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162144.30,3648.5222,N,-12158.5657,W,1,03,00.5,089.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162145.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162145.30,3648.5221,N,-12158.5665,W,1,03,00.5,088.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162146.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.73 6.80 20.41 4.02 4.09 0 7337.96 01:39:28 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162146.30,3648.5220,N,-12158.5673,W,1,03,00.5,087.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162147.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162147.30,3648.5218,N,-12158.5681,W,1,03,00.5,089.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162148.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.=6 5.00 17.96$4.03 4.10 0 10638.19 01:39:30 m : NMEA Update: $GPGGA,162148.30,3648.5215,N,-12158.5688,W,1,03,00.5,092.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162149.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162149.30,3648.5214,N,-12158.5694,W,1,03,00.5,087.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162150.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4074138.81, 591325.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162150.30,3648.5213,N,-12158.5703,W,1,03,00.5,086.6,M,-99.9,M,,*49 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162151.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 14.5865 : TerrainNav:: Measurement successfully incorporated from time = 1280.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1280.00 : -47.00 : Estimated East Bias at time = 1280.00 : 40.00 : Estimated Depth Bias at time = 1280.00 : -5.74 : Estimated northing and easting = 4074091.81 : 591365.63 : NMEA Update: $GPGGA,162151.30,3648.5212,N,-12158.5710,W,1,03,00.5,091.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162152.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162152.30,3648.5210,N,-12158.5716,W,1,03,00.5,089.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162153.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162153.30,3648.5209,N,-12158.5723,W,1,03,00.5,088.9,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162154.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162154.30,3648.5209,N,-12158.5729,W,1,03,00.5,093.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162155.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162155.30,3648.5208,N,-12158.5736,W,1,03,00.5,090.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162156.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 5.47 20.41 4.02 4.09 0 7337.48 01:39:38 m : NMEA Update: $GPGGA,162156.30,3648.5207,N,-12158.5742,W,1,03,00.5,091.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162157.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162157.30,3648.5206,N,-12158.5750,W,1,03,00.5,089.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162158.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample() - Only parsed 4 from reply $b4q0 d- 32.64 3.63 17.87 4.03(4.10 0 10637.67 01:39:40 m Š : NMEA Update: $GPGGA,162158.30,3648.5205,N,-12158.5758,W,1,03,00.5,087.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162159.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162159.29,3648.5204,N,-12158.5767,W,1,03,00.5,089.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162200.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074136.87, 591314.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162200.29,3648.5203,N,-12158.5774,W,1,03,00.5,093.6,M,-99.9,M,,*42 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162201.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 18.4680 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1290.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1290.00 : -47.00 : Estimated East Bias at time = 1290.00 : 40.00 : Estimated Depth Bias at time = 1290.00 : -5.75 : Estimated northing and easting = 4074089.87 : 591354.93 : NMEA Update: $GPGGA,162201.29,3648.5202,N,-12158.5780,W,1,03,00.5,087.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162202.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162202.29,3648.5200,N,-12158.5788,W,1,03,00.5,086.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162203.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162203.29,3648.5199,N,-12158.5796,W,1,03,00.5,088.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162204.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162204.29,3648.5198,N,-12158.5804,W,1,03,00.5,086.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162205.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162205.29,3648.5198,N,-12158.5810,W,1,03,00.5,091.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162206.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.80 5.58 20.41 4.03 4.10 0 7336.81 01:39:48 m : NMEA Update: $GPGGA,162206.29,3648.5196,N,-12158.5816,W,1,03,00.5,089.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162207.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162207.29,3648.5195,N,-12158.5823,W,1,03,00.5,092.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162208.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.64 3.74 17.96 4.03 4.10 0 10637.37 01:39:50 m : NMEA Update: $GPGGA,162208.29,3648.5194,N,-12158.5830,W,1,03,00.5,095.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162209.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : NMEA Update: $GPGGA,162209.29,3648.5193,N,-12158.5838,W,1,03,00.5,095.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162210.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4074134.71, 591304.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162210.29,3648.5192,N,-12158.5845,W,1,03,00.5,091.9,M,-99.9,M,,*48 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162211.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 14.3441 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1300.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1300.00 : -47.00 : Estimated East Bias at time = 1300.00 : 41.00 : Estimated Depth Bias at time = 1300.00 : -5.76 : Estimated northing and easting = 4074087.71 : 591345.49 : NMEA Update: $GPGGA,162211.29,3648.5191,N,-12158.5851,W,1,03,00.5,092.3,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162212.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162212.29,3648.5189,N,-12158.5860,W,1,03,00.5,085.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162213.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162213.29,3648.5188,N,-12158.5867,W,1,03,00.5,094.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162214.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162214.29,3648.5186,N,-12158.5874,W,1,03,00.5,091.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162215.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162215.29,3648.5184,N,-12158.5880,W,1,03,00.5,092.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162216.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.80 6.80 20.41 4.03 4.10 0 7336.40 01:39:58 m : NMEA Update: $GPGGA,162216.29,3648.5184,N,-12158.5888,W,1,03,00.5,097.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162217.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162217.29,3648.5183,N,-12158.5895,W,1,03,00.5,092.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162218.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.64 3.57 17.96 4.03 4.10 0 10636.94 01:40:00 m : NMEA Update: $GPGGA,162218.29,3648.5182,N,-12158.5903,W,1,03,00.5,091.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162219.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : NMEA Update: $GPGGA,162219.29,3648.5181,N,-12158.5910,W,1,03,00.5,090.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162220.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1310.000259 : TerrainNav update at dvl time = 1310.000259 : _navData-> (x,y) = (4074132.43, 591293.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162220.29,3648.5180,N,-12158.5917,W,1,03,00.5,093.3,M,-99.9,M,,*46 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162221.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 15.2258 : TerrainNav:: Measurement successfully incorporated from time = 1310.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1310.00 : -47.00 : Estimated East Bias at time = 1310.00 : 41.00 : Estimated Depth Bias at time = 1310.00 : -5.76 : Estimated northing and easting = 4074085.43 : 591334.73 : NMEA Update: $GPGGA,162221.29,3648.5179,N,-12158.5924,W,1,03,00.5,093.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162222.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162222.29,3648.5178,N,-12158.5931,W,1,03,00.5,088.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162223.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162223.29,3648.5176,N,-12158.5938,W,1,03,00.5,091.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162224.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162224.29,3648.5176,N,-12158.5947,W,1,03,00.5,095.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162225.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162225.29,3648.5174,N,-12158.5954,W,1,03,00.5,097.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162226.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.73 6.58 20.41 4.03 4.10 0 7335.72 01:40:08 m : NMEA Update: $GPGGA,162226.29,3648.5173,N,-12158.5960,W,1,03,00.5,093.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162227.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162227.29,3648.5172,N,-12158.5966,W,1,03,00.5,095.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162228.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt::sample() - Only parsed 6 from reply $b4q0 d= 32.60 4.39 18.06 4.03 4.98 0!116&“²Š‚ŠÒ¢‚ÒŠ‚j5Rþ : NMEA Update: $GPGGA,162228.29,3648.5170,N,-12158.5973,W,1,03,00.5,094.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162229.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162229.29,3648.5169,N,-12158.5979,W,1,03,00.5,091.1,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162230.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074130.20, 591283.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162230.29,3648.5169,N,-12158.5987,W,1,03,00.5,095.8,M,-99.9,M,,*44 : TerrainNav::Excluded 3 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162231.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 13.9427 : TerrainNav:: Measurement successfully incorporated from time = 1320.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1320.00 : -47.00 : Estimated East Bias at time = 1320.00 : 41.00 : Estimated Depth Bias at time = 1320.00 : -5.77 : Estimated northing and easting = 4074083.20 : 591324.44 : NMEA Update: $GPGGA,162231.29,3648.5168,N,-12158.5995,W,1,03,00.5,099.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162232.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162232.29,3648.5167,N,-12158.6004,W,1,03,00.5,096.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162233.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162233.29,3648.5165,N,-12158.6011,W,1,03,00.5,109.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162234.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162234.29,3648.5164,N,-12158.6016,W,1,03,00.5,106.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162235.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162235.29,3648.5162,N,-12158.6023,W,1,03,00.5,097.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162236.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.76 6.31 20.41 4.03 4.10 0 7335.29 01:40:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162236.29,3648.5160,N,-12158.6030,W,1,03,00.5,102.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162237.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162237.29,3648.5158,N,-12158.6037,W,1,03,00.5,105.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162238.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.56 4.33 57.96 4.03 4.10 0 10636.17 01:40:20 m : NMEA Update: $GPGGA,162238.29,3648.5157,N,-12158.6045,W,1,03,00.5,098.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162239.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : NMEA Update: $GPGGA,162239.29,3648.5156,N,-12158.6053,W,1,03,00.5,105.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162240.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1329.998889 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at dvl time = 1329.998889 : _navData-> (x,y) = (4074127.54, 591272.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162240.29,3648.5155,N,-12158.6060,W,1,03,00.5,104.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162241.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 9.0325 : TerrainNav:: Measurement successfully incorporated from time = 1330.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1330.00 : -47.00 : Estimated East Bias at time = 1330.00 : 42.00 : Estimated Depth Bias at time = 1330.00 : -5.79 : Estimated northing and easting = 4074080.54 : 591314.55 : NMEA Update: $GPGGA,162241.29,3648.5154,N,-12158.6065,W,1,03,00.5,111.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162242.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162242.29,3648.5153,N,-12158.6071,W,1,03,00.5,101.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162243.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162243.29,3648.5153,N,-12158.6078,W,1,03,00.5,102.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162244.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162244.29,3648.5152,N,-12158.6086,W,1,03,00.5,106.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162245.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162245.29,3648.5150,N,-12158.6094,W,1,03,00.5,104.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162246.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 5.36 20.41 4.03 4.09 0 7334.59 01:40:28 m : NMEA Update: $GPGGA,162246.29,3648.5150,N,-12158.6101,W,1,03,00.5,108.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162247.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162247.29,3648.5148,N,-12158.6108,W,1,03,00.5,108.1,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162248.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.60$ 4.61 17.96!4.03 4.10 0 10635.86 01:40:30 m : NMEA Update: $GPGGA,162248.29,3648.5147,N,-12158.6115,W,1,03,00.5,104.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162249.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162249.29,3648.5145,N,-12158.6122,W,1,03,00.5,108.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162250.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4074125.21, 591262.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162250.29,3648.5143,N,-12158.6129,W,1,03,00.5,105.5,M,-99.9,M,,*40 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162251.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 9.1522 : TerrainNav:: Measurement successfully incorporated from time = 1340.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1340.00 : -47.00 : Estimated East Bias at time = 1340.00 : 42.00 : Estimated Depth Bias at time = 1340.00 : -5.79 : Estimated northing and easting = 4074078.21 : 591304.35 : NMEA Update: $GPGGA,162251.29,3648.5141,N,-12158.6137,W,1,03,00.5,103.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162252.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162252.29,3648.5140,N,-12158.6144,W,1,03,00.5,111.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162253.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162253.29,3648.5139,N,-12158.6150,W,1,03,00.5,105.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162254.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162254.29,3648.5139,N,-12158.6157,W,1,03,00.5,110.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162255.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162255.29,3648.5137,N,-12158.6163,W,1,03,00.5,108.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162256.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.80 6.54 20.50 4.03 4.09 0 7334.19 01:40:38 m : NMEA Update: $GPGGA,162256.29,3648.5136,N,-12158.6169,W,1,03,00.5,108.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162257.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162257.29,3648.5135,N,-12158.6176,W,1,03,00.5,107.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162258.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 6 from reply $b4q0 d- 32.60 3.74 17.96 4.13 4.10 0"10635.45 01:40:40 m : NMEA Update: $GPGGA,162258.29,3648.5133,N,-12158.6183,W,1,03,00.5,108.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162259.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162259.29,3648.5132,N,-12158.6190,W,1,03,00.5,107.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162300.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074122.79, 591252.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162300.29,3648.5130,N,-12158.6199,W,1,03,00.5,108.2,M,-99.9,M,,*41 : TerrainNav::Excluded 3 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162301.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 2.8620 : TerrainNav:: Measurement successfully incorporated from time = 1350.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1350.00 : -47.00 : Estimated East Bias at time = 1350.00 : 42.00 : Estimated Depth Bias at time = 1350.00 : -5.79 : Estimated northing and easting = 4074075.79 : 591294.06 : NMEA Update: $GPGGA,162301.29,3648.5129,N,-12158.6206,W,1,03,00.5,110.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162302.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162302.29,3648.5127,N,-12158.6214,W,1,03,00.5,111.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162303.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162303.29,3648.5126,N,-12158.6221,W,1,03,00.5,110.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162304.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162304.29,3648.5124,N,-12158.6227,W,1,03,00.5,117.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162305.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162305.29,3648.5122,N,-12158.6233,W,1,03,00.5,108.1,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162306.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.76 6.73 20.50 4.03 4.09 0 7333.59 01:40:48 m : NMEA Update: $GPGGA,162306.29,3648.5121,N,-12158.6241,W,1,03,00.5,106.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162307.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162307.29,3648.5120,N,-12158.6248,W,1,03,00.5,115.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162308.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162308.29,3648.5120,N,-12158.6254,W,1,03,00.5,113.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162309.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162309.29,3648.5120,N,-12158.6260,W,1,03,00.5,107.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162310.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample()-caught read() exception: Timed Out (4b4q0 d- s2.60 3.67 17.96 4.03 4.10 0 10635.15 01:40:50 m ) : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4074120.46, 591241.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162310.29,3648.5118,N,-12158.6267,W,1,03,00.5,114.2,M,-99.9,M,,*45 : TerrainNav::Excluded 3 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,162311.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 4.7098 : TerrainNav:: Measurement successfully incorporated from time = 1360.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 1360.00 : -47.00 : Estimated East Bias at time = 1360.00 : 42.00 : Estimated Depth Bias at time = 1360.00 : -5.80 : Estimated northing and easting = 4074073.46 : 591283.86 : NMEA Update: $GPGGA,162311.29,3648.5118,N,-12158.6273,W,1,03,00.5,114.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162312.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162312.29,3648.5117,N,-12158.6280,W,1,03,00.5,109.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162313.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162313.29,3648.5116,N,-12158.6288,W,1,03,00.5,113.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162314.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162314.29,3648.5114,N,-12158.6296,W,1,03,00.5,111.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162315.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162315.29,3648.5112,N,-12158.6304,W,1,03,00.5,110.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162316.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.73 6.80 20.41 4.03 4.09 0 7333.13 01:40:58 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162316.29,3648.5110,N,-12158.6311,W,1,03,00.5,119.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162317.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162317.29,3648.5108,N,-12158.6316,W,1,03,00.5,115.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162318.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b4q0 d- 32.56 3.70 17.96 4.53 4.10 0 14634.73 01:41:00 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162318.29,3648.5106,N,-12158.6323,W,1,03,00.5,108.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162319.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.280000 : NMEA Update: $GPGGA,162319.29,3648.5106,N,-12158.6330,W,1,03,00.5,113.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162320.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1369.996149 : TerrainNav update at dvl time = 1369.996149 : _navData-> (x,y) = (4074117.89, 591231.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162320.29,3648.5105,N,-12158.6338,W,1,03,00.5,112.1,M,-99.9,M,,*44 : TerrainNav::Measurement from time = 1370.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : AshtechGps::processRecord() - $GPGGA,162321.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1370.00 : -47.00 : Estimated East Bias at time = 1370.00 : 42.00 : Estimated Depth Bias at time = 1370.00 : -5.80 : Estimated northing and easting = 4074070.89 : 591273.40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162321.29,3648.5104,N,-12158.6344,W,1,03,00.5,113.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162322.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162322.29,3648.5103,N,-12158.6350,W,1,03,00.5,116.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162323.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162323.29,3648.5102,N,-12158.6357,W,1,03,00.5,111.4,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,162324.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162324.29,3648.5101,N,-12158.6365,W,1,03,00.5,111.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162325.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162325.29,3648.5100,N,-12158.6372,W,1,03,00.5,119.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162326.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.80 5.58 20.50 4.03 4.09 0 7332.46 01:41:08 m : NMEA Update: $GPGGA,162326.29,3648.5098,N,-12158.6380,W,1,03,00.5,112.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162327.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162327.29,3648.5097,N,-12158.6386,W,1,03,00.5,114.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162328.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.60 4.19 17.96 4.03 4.10 0 10634.42 01:41:10 m : NMEA Update: $GPGGA,162328.29,3648.5095,N,-12158.6391,W,1,03,00.5,126.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162329.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : NMEA Update: $GPGGA,162329.29,3648.5094,N,-12158.6398,W,1,03,00.5,109.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162330.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074115.55, 591221.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162330.29,3648.5093,N,-12158.6407,W,1,03,00.5,107.2,M,-99.9,M,,*47 : TerrainNav::Measurement from time = 1380.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : AshtechGps::processRecord() - $GPGGA,162331.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1380.00 : -47.00 : Estimated East Bias at time = 1380.00 : 42.00 : Estimated Depth Bias at time = 1380.00 : -5.80 : Estimated northing and easting = 4074068.55 : 591263.20 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162331.29,3648.5092,N,-12158.6415,W,1,03,00.5,113.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162332.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162332.29,3648.5090,N,-12158.6421,W,1,03,00.5,118.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162333.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162333.29,3648.5089,N,-12158.6427,W,1,03,00.5,122.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162334.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162334.29,3648.5088,N,-12158.6434,W,1,03,00.5,115.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162335.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162335.29,3648.5087,N,-12158.6441,W,1,03,00.5,120.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162336.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.76 5.58 20.50 4.03 4.09 0 7332.06 01:41:18 m : NMEA Update: $GPGGA,162336.29,3648.5086,N,-12158.6449,W,1,03,00.5,113.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162337.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162337.29,3648.5085,N,-12158.6458,W,1,03,00.5,117.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162338.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.56 4.09 17.96 4.03 4.10 0 10633.99 01:41:20 m : NMEA Update: $GPGGA,162338.29,3648.5083,N,-12158.6464,W,1,03,00.5,123.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162339.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.030000 : NMEA Update: $GPGGA,162339.30,3648.5081,N,-12158.6469,W,1,03,00.5,121.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162340.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4074113.02, 591210.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162340.30,3648.5080,N,-12158.6476,W,1,03,00.5,114.0,M,-99.9,M,,*4c : TerrainNav::Measurement from time = 1389.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : AshtechGps::processRecord() - $GPGGA,162341.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 1389.99 : -47.00 : Estimated East Bias at time = 1389.99 : 42.00 : Estimated Depth Bias at time = 1389.99 : -5.80 : Estimated northing and easting = 4074066.02 : 591252.89 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162341.30,3648.5079,N,-12158.6482,W,1,03,00.5,119.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162342.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162342.30,3648.5078,N,-12158.6490,W,1,03,00.5,120.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162343.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162343.30,3648.5077,N,-12158.6497,W,1,03,00.5,116.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162344.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162344.30,3648.5075,N,-12158.6504,W,1,03,00.5,125.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162345.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162345.30,3648.5074,N,-12158.6511,W,1,03,00.5,117.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162346.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b3q0 d- 32.76 5.93 20.50 4.02 4.09 0 7331.42 01:41:28 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162346.30,3648.5073,N,-12158.6517,W,1,03,00.5,120.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162347.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162347.30,3648.5071,N,-12158.6525,W,1,03,00.5,121.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162348.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b4q0 d- 32.56 3.67 17.96 5.03 4.1000 10637.70 01:41:30 m : NMEA Update: $GPGGA,162348.30,3648.5070,N,-12158.6533,W,1,03,00.5,115.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162349.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 4.020000, mean min cell voltage 4.525000 : NMEA Update: $GPGGA,162349.30,3648.5069,N,-12158.6541,W,1,03,00.5,122.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162350.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4074110.55, 591200.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162350.30,3648.5067,N,-12158.6548,W,1,03,00.5,124.2,M,-99.9,M,,*49 : TerrainNav::Measurement from time = 1399.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162351.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1399.99 : -47.00 : Estimated East Bias at time = 1399.99 : 42.00 : Estimated Depth Bias at time = 1399.99 : -5.80 : Estimated northing and easting = 4074063.55 : 591242.22 : NMEA Update: $GPGGA,162351.30,3648.5065,N,-12158.6554,W,1,03,00.5,120.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162352.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162352.30,3648.5064,N,-12158.6561,W,1,03,00.5,125.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162353.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162353.30,3648.5063,N,-12158.6568,W,1,03,00.5,118.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162354.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162354.30,3648.5064,N,-12158.6575,W,1,03,00.5,119.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162355.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162355.30,3648.5064,N,-12158.6582,W,1,03,00.5,126.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162356.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.76 5.51 20.50 4.02 4.09 0 7331.03 01:41:38 m : NMEA Update: $GPGGA,162356.30,3648.5063,N,-12158.6589,W,1,03,00.5,124.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162357.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162357.30,3648.5061,N,-12158.6595,W,1,03,00.5,121.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162358.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.56  4.19 18.06 4.03 4.10 0 10633.29 01:41:40 m : NMEA Update: $GPGGA,162358.30,3648.5059,N,-12158.6601,W,1,03,00.5,126.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162359.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162359.30,3648.5057,N,-12158.6607,W,1,03,00.5,128.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162400.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074108.49, 591190.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162400.30,3648.5057,N,-12158.6614,W,1,03,00.5,118.1,M,-99.9,M,,*4e : TerrainNav::Measurement from time = 1409.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : AshtechGps::processRecord() - $GPGGA,162401.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1409.99 : -47.00 : Estimated East Bias at time = 1409.99 : 42.00 : Estimated Depth Bias at time = 1409.99 : -5.80 : Estimated northing and easting = 4074061.49 : 591232.40 : NMEA Update: $GPGGA,162401.30,3648.5056,N,-12158.6622,W,1,03,00.5,123.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162402.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162402.30,3648.5054,N,-12158.6630,W,1,03,00.5,129.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162403.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162403.30,3648.5053,N,-12158.6637,W,1,03,00.5,123.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162404.30,3648.5051,N,-12158.6643,W,1,03,00.5,128.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162405.30,3648.5050,N,-12158.6650,W,1,03,00.5,123.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162406.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 32.76 5.40 20.50 4.03 4.09 0 7330.42 01:41:48 m : NMEA Update: $GPGGA,162406.30,3648.5049,N,-12158.6657,W,1,03,00.5,125.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162407.30,3648.5048,N,-12158.6665,W,1,03,00.5,124.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162408.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt::sample() - Only parsed 3 from reply $b4q0 d- 32.60 3.98 18.06`4/03 4.10 0 10633.01 01:41:54 m : NMEA Update: $GPGGA,162408.30,3648.5047,N,-12158.6673,W,1,03,00.5,124.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162409.30,3648.5047,N,-12158.6680,W,1,03,00.5,123.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : _navData-> (x,y) = (4074106.36, 591179.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162410.30,3648.5046,N,-12158.6686,W,1,03,00.5,122.1,M,-99.9,M,,*4d : TerrainNav::Measurement from time = 1420.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : AshtechGps::processRecord() - $GPGGA,162411.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1420.00 : -47.00 : Estimated East Bias at time = 1420.00 : 42.00 : Estimated Depth Bias at time = 1420.00 : -5.80 : Estimated northing and easting = 4074059.36 : 591221.71 : NMEA Update: $GPGGA,162411.30,3648.5045,N,-12158.6691,W,1,03,00.5,120.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162412.30,3648.5044,N,-12158.6698,W,1,03,00.5,116.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162413.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162413.30,3648.5043,N,-12158.6705,W,1,03,00.5,123.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 1470.599257) Behavior ascend:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl::execute() -- (t = 1470.799243) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1470.799243) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 1470.799243) Behavior missionTimer:-1 has changed to state Active : NMEA Update: $GPGGA,162414.30,3648.5042,N,-12158.6713,W,1,03,00.5,128.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162415.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162415.30,3648.5041,N,-12158.6720,W,1,03,00.5,126.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.84 4.10 20.50 4.03 4.09 0 7330.01 01:41:58 m : NMEA Update: $GPGGA,162416.30,3648.5039,N,-12158.6726,W,1,03,00.5,134.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162417.30,3648.5037,N,-12158.6732,W,1,03,00.5,127.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162418.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $b4q0 d- 32.79 0.94 18.06 4.04 4.12 0 10632.69 01:42:00 m : NMEA Update: $GPGGA,162418.30,3648.5035,N,-12158.6739,W,1,03,00.5,127.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.030000, mean min cell voltage 4.035000 : NMEA Update: $GPGGA,162419.30,3648.5033,N,-12158.6746,W,1,03,00.5,128.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162420.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4074103.58, 591170.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162420.30,3648.5031,N,-12158.6751,W,1,03,00.5,131.7,M,-99.9,M,,*41 : TerrainNav::Measurement from time = 1430.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : AshtechGps::processRecord() - $GPGGA,162421.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1430.00 : -47.00 : Estimated East Bias at time = 1430.00 : 42.00 : Estimated Depth Bias at time = 1430.00 : -5.80 : Estimated northing and easting = 4074056.58 : 591212.07 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162421.30,3648.5029,N,-12158.6753,W,1,03,00.5,130.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162422.30,3648.5027,N,-12158.6755,W,1,03,00.5,129.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162423.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162423.30,3648.5024,N,-12158.6759,W,1,03,00.5,121.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162424.30,3648.5021,N,-12158.6763,W,1,03,00.5,126.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162425.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162425.29,3648.5018,N,-12158.6766,W,1,03,00.5,127.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.95 1.32 20.50 4.05 4.11 0 7329.86 01:42:08 m : NMEA Update: $GPGGA,162426.29,3648.5015,N,-12158.6767,W,1,03,00.5,124.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162427.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162427.29,3648.5012,N,-12158.6767,W,1,03,00.5,124.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162428.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.83 0.94 18.06 4.04 4.12 0 10632.62 01:42:10 m : NMEA Update: $GPGGA,162428.29,3648.5010,N,-12158.6770,W,1,03,00.5,115.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162429.00,3648.49998,N,12158.67111,W,1,06,1.7,-2.69,M,-32.92,M,,*70 : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000 : NMEA Update: $GPGGA,162429.29,3648.4999,N,-12158.6712,W,1,03,00.5,115.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162430.00,3648.49924,N,12158.67131,W,1,06,1.7,-1.22,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074096.27, 591175.59) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1440.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,162430.29,3648.4992,N,-12158.6713,W,1,03,00.5,104.4,M,-99.9,M,,*4a : Estimated North Bias at time = 1440.00 : -46.00 : Estimated East Bias at time = 1440.00 : 43.00 : Estimated Depth Bias at time = 1440.00 : -5.80 : Estimated northing and easting = 4074050.27 : 591218.59 : AshtechGps::processRecord() - $GPGGA,162431.00,3648.49833,N,12158.67163,W,1,07,1.1,-3.18,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162431.29,3648.4983,N,-12158.6716,W,1,03,00.5,107.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162432.00,3648.49788,N,12158.67146,W,1,07,1.1,-3.08,M,-32.92,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162432.29,3648.4978,N,-12158.6715,W,1,03,00.5,118.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162433.00,3648.49784,N,12158.67165,W,1,07,1.1,-3.57,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162433.29,3648.4978,N,-12158.6717,W,1,03,00.5,114.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162434.00,3648.49783,N,12158.67178,W,1,08,1.0,-3.56,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162434.29,3648.4978,N,-12158.6718,W,1,03,00.5,114.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162435.00,3648.49752,N,12158.67182,W,1,08,1.0,-2.92,M,-32.92,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162435.29,3648.4975,N,-12158.6718,W,1,03,00.5,120.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162436.00,3648.49725,N,12158.67161,W,1,08,1.0,-2.64,M,-32.92,M,,*75 : BluefinBatt Reply: $b3q0 d- 32.95 1.67 20.41 4.05 4.11 0 7329.75 01:42:18 m : NMEA Update: $GPGGA,162436.29,3648.4972,N,-12158.6716,W,1,03,00.5,115.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162437.00,3648.49689,N,12158.67142,W,1,08,1.0,-2.77,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162437.29,3648.4968,N,-12158.6714,W,1,03,00.5,115.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162438.00,3648.49664,N,12158.67157,W,1,08,1.0,-2.89,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.75 1.29 17.96 4.04 4.12 0 10632.62 01:52:20 m : NMEA Update: $GPGGA,162438.29,3648.4966,N,-12158.6716,W,1,03,00.5,117.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162439.00,3648.49645,N,12158.67143,W,1,08,1.0,-2.87,M,-32.92,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000 : NMEA Update: $GPGGA,162439.29,3648.4964,N,-12158.6714,W,1,03,00.5,118.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162440.00,3648.49612,N,12158.67134,W,1,08,1.0,-2.86,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1450.000668 : TerrainNav update at dvl time = 1450.000668 : _navData-> (x,y) = (4074090.55, 591175.66) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1450.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1450.00 : -46.00 : Estimated East Bias at time = 1450.00 : 43.00 : Estimated Depth Bias at time = 1450.00 : -5.80 : NMEA Update: $GPGGA,162440.29,3648.4961,N,-12158.6713,W,1,03,00.5,114.7,M,-99.9,M,,*43 : Estimated northing and easting = 4074044.55 : 591218.66 : AshtechGps::processRecord() - $GPGGA,162441.00,3648.49591,N,12158.67123,W,1,08,1.0,-3.31,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162441.29,3648.4959,N,-12158.6712,W,1,03,00.5,116.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162442.00,3648.49554,N,12158.67127,W,1,08,1.0,-3.42,M,-32.92,M,,*75 : NMEA Update: $GPGGA,162442.29,3648.4955,N,-12158.6713,W,1,03,00.5,114.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162443.00,3648.49527,N,12158.67121,W,1,08,1.0,-3.48,M,-32.92,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162443.29,3648.4952,N,-12158.6712,W,1,03,00.5,114.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162444.00,3648.49503,N,12158.67100,W,1,08,1.0,-3.66,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162444.29,3648.4950,N,-12158.6709,W,1,03,00.5,113.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162445.00,3648.49484,N,12158.67074,W,1,08,1.0,-3.96,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162445.29,3648.4948,N,-12158.6707,W,1,03,00.5,110.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162446.00,3648.49470,N,12158.67064,W,1,08,1.0,-4.36,M,-32.92,M,,*74 : BluefinBatt Reply: $b3q0 d- 32.91 2.32 20.41 4.04 4.11 0 7329.41 01:42:28 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162446.29,3648.4947,N,-12158.6707,W,1,03,00.5,113.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162447.00,3648.49450,N,12158.67078,W,1,08,1.0,-4.41,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162447.29,3648.4945,N,-12158.6708,W,1,03,00.5,117.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162448.00,3648.49426,N,12158.67076,W,1,08,1.0,-3.75,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.83 0.90 17.96 4.04 4.12 0 10632.29 01:42:30 m : NMEA Update: $GPGGA,162448.29,3648.4942,N,-12158.6707,W,1,03,00.5,119.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162449.00,3648.49401,N,12158.67047,W,1,08,1.0,-3.22,M,-32.92,M,,*7E : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.040000 : NMEA Update: $GPGGA,162449.29,3648.4940,N,-12158.6704,W,1,03,00.5,114.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162450.00,3648.49379,N,12158.67017,W,1,08,1.0,-3.24,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1459.999983 : TerrainNav update at dvl time = 1459.999983 : _navData-> (x,y) = (4074086.27, 591177.49) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1460.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1460.00 : -46.00 : Estimated East Bias at time = 1460.00 : 43.00 : Estimated Depth Bias at time = 1460.00 : -5.80 : Estimated northing and easting = 4074040.27 : 591220.49 : NMEA Update: $GPGGA,162450.29,3648.4938,N,-12158.6702,W,1,03,00.5,114.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162451.00,3648.49356,N,12158.67000,W,1,08,1.0,-3.28,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162451.29,3648.4935,N,-12158.6700,W,1,03,00.5,115.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162452.00,3648.49343,N,12158.66987,W,1,08,1.0,-3.33,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162452.29,3648.4934,N,-12158.6699,W,1,03,00.5,116.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162453.00,3648.49330,N,12158.66967,W,1,08,1.0,-3.52,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162453.29,3648.4933,N,-12158.6696,W,1,03,00.5,115.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162454.00,3648.49309,N,12158.66948,W,1,08,1.0,-4.14,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162454.29,3648.4930,N,-12158.6694,W,1,03,00.5,114.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162455.00,3648.49282,N,12158.66938,W,1,08,1.0,-4.35,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162455.29,3648.4928,N,-12158.6694,W,1,03,00.5,116.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162456.00,3648.49255,N,12158.66928,W,1,08,1.0,-3.32,M,-32.92,M,,*77 : BluefinBatt Reply: $b3q0 d- 32.95 1.25 20.41 4.04 4.11 0 7329.26 01:42:38 m : NMEA Update: $GPGGA,162456.29,3648.4925,N,-12158.6692,W,1,03,00.5,115.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162457.00,3648.49241,N,12158.66901,W,1,08,1.0,-4.02,M,-32.92,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162457.29,3648.4924,N,-12158.6690,W,1,03,00.5,112.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162458.00,3648.49237,N,12158.66874,W,1,07,1.1,-3.90,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.79 1.50 17.96 4.05 4.12 0 10632.14 01:42:40 m : NMEA Update: $GPGGA,162458.29,3648.4924,N,-12158.6687,W,1,03,00.5,116.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162459.00,3648.49225,N,12158.66842,W,1,08,1.0,-3.40,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000 : NMEA Update: $GPGGA,162459.29,3648.4922,N,-12158.6684,W,1,03,00.5,113.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162500.00,3648.49199,N,12158.66825,W,1,08,1.0,-4.01,M,-32.92,M,,*7D : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4074082.96, 591180.35) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1470.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,162500.29,3648.4919,N,-12158.6682,W,1,03,00.5,117.1,M,-99.9,M,,*45 : Estimated North Bias at time = 1470.00 : -45.00 : Estimated East Bias at time = 1470.00 : 43.00 : Estimated Depth Bias at time = 1470.00 : -5.80 : Estimated northing and easting = 4074037.96 : 591223.35 : AshtechGps::processRecord() - $GPGGA,162501.00,3648.49185,N,12158.66801,W,1,07,1.1,-4.13,M,-32.92,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162501.29,3648.4918,N,-12158.6680,W,1,03,00.5,118.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162502.00,3648.49162,N,12158.66802,W,1,07,1.1,-4.23,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162502.29,3648.4916,N,-12158.6680,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,162503.00,3648.49156,N,12158.66785,W,1,07,1.1,-4.31,M,-32.92,M,,*75 : NMEA Update: $GPGGA,162503.29,3648.4915,N,-12158.6678,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162504.00,3648.49141,N,12158.66788,W,1,07,1.1,-4.23,M,-32.92,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162504.29,3648.4914,N,-12158.6679,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,162505.00,3648.49124,N,12158.66777,W,1,07,1.1,-3.95,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162505.29,3648.4912,N,-12158.6678,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,162506.00,3648.49114,N,12158.66730,W,1,07,1.1,-3.82,M,-32.92,M,,*77 : BluefinBatt Reply: $b3q0 d- 32.95 1.59 20.41 4.05 4.12 0 7329.12 01:42:48 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162506.29,3648.4911,N,-12158.6672,W,1,03,00.5,119.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162507.00,3648.49087,N,12158.66715,W,1,07,1.1,-4.16,M,-32.92,M,,*70 : NMEA Update: $GPGGA,162507.29,3648.4909,N,-12158.6671,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,162508.00,3648.49071,N,12158.66689,W,1,07,1.1,-4.07,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.75 1.50 17.96 4.05 4.12 0 10632.06 01:42:50 m : NMEA Update: $GPGGA,162508.29,3648.4907,N,-12158.6669,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,162509.00,3648.49042,N,12158.66672,W,1,07,1.1,-4.08,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162509.29,3648.4904,N,-12158.6667,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,162510.00,3648.49031,N,12158.66639,W,1,07,1.1,-4.54,M,-32.92,M,,*72 : TerrainNav update at nav time = 1479.998613 : TerrainNav update at dvl time = 1479.998613 : _navData-> (x,y) = (4074079.94, 591183.11) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1480.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1480.00 : -45.00 : Estimated East Bias at time = 1480.00 : 43.00 : Estimated Depth Bias at time = 1480.00 : -5.80 : Estimated northing and easting = 4074034.94 : 591226.11 : NMEA Update: $GPGGA,162510.29,3648.4903,N,-12158.6664,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162511.00,3648.49026,N,12158.66632,W,1,07,1.1,-4.22,M,-32.92,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162511.29,3648.4902,N,-12158.6663,W,1,03,00.5,113.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162512.00,3648.49019,N,12158.66618,W,1,07,1.1,-4.01,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162512.29,3648.4902,N,-12158.6662,W,1,03,00.5,116.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162513.00,3648.49003,N,12158.66593,W,1,07,1.1,-3.86,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162513.29,3648.4900,N,-12158.6659,W,1,03,00.5,115.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162514.00,3648.48988,N,12158.66560,W,1,07,1.1,-4.07,M,-32.92,M,,*75 : NMEA Update: $GPGGA,162514.29,3648.4899,N,-12158.6656,W,1,03,00.5,111.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162515.00,3648.48978,N,12158.66536,W,1,07,1.1,-4.32,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162515.29,3648.4898,N,-12158.6653,W,1,03,00.5,113.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162516.00,3648.48966,N,12158.66520,W,1,07,1.1,-4.36,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.99 1.29 20.41 4.05 4.12 0 7329.00 01:42:58 m : NMEA Update: $GPGGA,162516.29,3648.4896,N,-12158.6652,W,1,03,00.5,116.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162517.00,3648.48945,N,12158.66503,W,1,07,1.1,-4.64,M,-32.92,M,,*77 : NMEA Update: $GPGGA,162517.29,3648.4894,N,-12158.6650,W,1,03,00.5,112.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162518.00,3648.48923,N,12158.66493,W,1,08,1.1,-4.46,M,-32.92,M,,*7F : BluefinBatt Reply: $b4q0 d- 32.71 1.85 17.87 4.05 4.12 0 10631.89 01:43:00 m : NMEA Update: $GPGGA,162518.29,3648.4892,N,-12158.6649,W,1,03,00.5,114.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162519.00,3648.48912,N,12158.66485,W,1,08,1.1,-4.27,M,-32.92,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162519.29,3648.4891,N,-12158.6648,W,1,03,00.5,112.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162520.00,3648.48898,N,12158.66473,W,1,08,1.1,-4.13,M,-32.92,M,,*7B : TerrainNav update at nav time = 1489.997928 : TerrainNav update at dvl time = 1489.997928 : _navData-> (x,y) = (4074077.51, 591185.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Measurement from time = 1490.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,162520.29,3648.4890,N,-12158.6647,W,1,03,00.5,115.0,M,-99.9,M,,*4d : Estimated North Bias at time = 1490.00 : -45.00 : Estimated East Bias at time = 1490.00 : 44.00 : Estimated Depth Bias at time = 1490.00 : -5.80 : Estimated northing and easting = 4074032.51 : 591229.62 : AshtechGps::processRecord() - $GPGGA,162521.00,3648.48890,N,12158.66444,W,1,08,1.1,-3.88,M,-32.92,M,,*73 : NMEA Update: $GPGGA,162521.29,3648.4889,N,-12158.6644,W,1,03,00.5,112.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162522.00,3648.48867,N,12158.66425,W,1,09,1.0,-3.73,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162522.29,3648.4887,N,-12158.6642,W,1,03,00.5,114.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162523.00,3648.48864,N,12158.66401,W,1,09,1.0,-3.77,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162523.29,3648.4886,N,-12158.6640,W,1,03,00.5,112.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162524.00,3648.48846,N,12158.66390,W,1,09,1.0,-3.43,M,-32.92,M,,*74 : NMEA Update: $GPGGA,162524.29,3648.4884,N,-12158.6639,W,1,03,00.5,116.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162525.00,3648.48841,N,12158.66363,W,1,09,1.0,-3.41,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162525.29,3648.4884,N,-12158.6636,W,1,03,00.5,110.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162526.00,3648.48833,N,12158.66341,W,1,09,1.0,-3.42,M,-32.92,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.95 2.05 20.41 4.05 4.12 0 7328.80 01:43:08 m : NMEA Update: $GPGGA,162526.29,3648.4883,N,-12158.6634,W,1,03,00.5,116.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162527.00,3648.48828,N,12158.66316,W,1,09,1.0,-3.45,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162527.29,3648.4883,N,-12158.6631,W,1,03,00.5,113.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162528.00,3648.48812,N,12158.66294,W,1,09,1.0,-3.44,M,-32.92,M,,*7B : BluefinBatt::sample() - Only parsed 5 from reply $b4q0 d- 32.75 1.25 17.96 4.05 4>12 0 10631.82 01:43:10 m : NMEA Update: $GPGGA,162528.29,3648.4881,N,-12158.6629,W,1,03,00.5,114.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162529.00,3648.48804,N,12158.66269,W,1,09,1.0,-3.71,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162529.29,3648.4880,N,-12158.6627,W,1,03,00.5,112.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162530.00,3648.48787,N,12158.66260,W,1,09,1.0,-3.83,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4074075.49, 591188.78) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1500.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1500.00 : -45.00 : Estimated East Bias at time = 1500.00 : 44.00 : Estimated Depth Bias at time = 1500.00 : -5.80 : Estimated northing and easting = 4074030.49 : 591232.78 : NMEA Update: $GPGGA,162530.29,3648.4879,N,-12158.6626,W,1,03,00.5,111.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162531.00,3648.48775,N,12158.66244,W,1,09,1.0,-3.93,M,-32.92,M,,*7A : NMEA Update: $GPGGA,162531.29,3648.4877,N,-12158.6624,W,1,03,00.5,112.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162532.00,3648.48755,N,12158.66237,W,1,09,1.0,-3.89,M,-32.92,M,,*74 : NMEA Update: $GPGGA,162532.29,3648.4875,N,-12158.6624,W,1,03,00.5,112.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162533.00,3648.48747,N,12158.66221,W,1,09,1.0,-3.58,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162533.29,3648.4875,N,-12158.6622,W,1,03,00.5,113.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162534.00,3648.48745,N,12158.66206,W,1,09,1.0,-3.21,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162534.29,3648.4874,N,-12158.6620,W,1,03,00.5,112.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162535.00,3648.48730,N,12158.66185,W,1,09,1.0,-2.87,M,-32.92,M,,*75 : NMEA Update: $GPGGA,162535.29,3648.4873,N,-12158.6618,W,1,03,00.5,111.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162536.00,3648.48728,N,12158.66171,W,1,09,1.0,-3.19,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.99 1.29 20.41 4.05 4.12 0 7328.69 01:43:18 m : NMEA Update: $GPGGA,162536.29,3648.4873,N,-12158.6617,W,1,03,00.5,112.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162537.00,3648.48716,N,12158.66155,W,1,09,1.0,-3.50,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162537.29,3648.4871,N,-12158.6615,W,1,03,00.5,113.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162538.00,3648.48708,N,12158.66132,W,1,09,1.0,-3.47,M,-32.92,M,,*72 : BluefinBatt Reply: $b4q0 d- 32.83 0.90 17.96 4.05 4.12 0 10631.72 01:43:20 m : NMEA Update: $GPGGA,162538.29,3648.4871,N,-12158.6613,W,1,03,00.5,119.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162539.00,3648.48702,N,12158.66113,W,1,09,1.0,-3.26,M,-32.92,M,,*7D : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162539.29,3648.4870,N,-12158.6611,W,1,03,00.5,110.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162540.00,3648.48692,N,12158.66080,W,1,09,1.0,-3.04,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1509.996558 : TerrainNav update at dvl time = 1509.996558 : _navData-> (x,y) = (4074073.77, 591191.54) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1510.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1510.00 : -45.00 : Estimated East Bias at time = 1510.00 : 44.00 : Estimated Depth Bias at time = 1510.00 : -5.80 : Estimated northing and easting = 4074028.77 : 591235.54 : NMEA Update: $GPGGA,162540.29,3648.4869,N,-12158.6607,W,1,03,00.5,115.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162541.00,3648.48669,N,12158.66048,W,1,09,1.0,-3.20,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162541.29,3648.4867,N,-12158.6604,W,1,03,00.5,110.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162542.00,3648.48657,N,12158.66033,W,1,09,1.0,-3.45,M,-32.92,M,,*76 : NMEA Update: $GPGGA,162542.29,3648.4865,N,-12158.6603,W,1,03,00.5,110.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162543.00,3648.48653,N,12158.66030,W,1,09,1.0,-3.52,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162543.29,3648.4865,N,-12158.6603,W,1,03,00.5,112.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162544.00,3648.48651,N,12158.66020,W,1,09,1.0,-3.50,M,-32.92,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162544.29,3648.4865,N,-12158.6602,W,1,03,00.5,111.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162545.00,3648.48630,N,12158.66009,W,1,09,1.0,-2.84,M,-32.92,M,,*75 : NMEA Update: $GPGGA,162545.29,3648.4863,N,-12158.6601,W,1,03,00.5,113.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162546.00,3648.48623,N,12158.65957,W,1,09,1.0,-2.75,M,-32.92,M,,*7B : BluefinBatt Reply: $b3q0 d- 32.99 1.25 20.41 4.05 4.12 0 7328.51 01:43:28 m : NMEA Update: $GPGGA,162546.29,3648.4862,N,-12158.6595,W,1,03,00.5,104.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162547.00,3648.48599,N,12158.65910,W,1,09,1.0,-3.56,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162547.29,3648.4860,N,-12158.6591,W,1,03,00.5,111.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162548.00,3648.48599,N,12158.65901,W,1,09,1.0,-3.96,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.79 1.11 17.96 4.05 4.12 0 10631.60 01:43:30 m : NMEA Update: $GPGGA,162548.29,3648.4860,N,-12158.6590,W,1,03,00.5,110.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162549.00,3648.48588,N,12158.65918,W,1,09,1.0,-3.83,M,-32.92,M,,*75 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162549.29,3648.4859,N,-12158.6592,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,162550.00,3648.48579,N,12158.65904,W,1,09,1.0,-3.41,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1519.995873 : TerrainNav update at dvl time = 1519.995873 : _navData-> (x,y) = (4074071.69, 591194.17) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1520.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1520.00 : -45.00 : Estimated East Bias at time = 1520.00 : 44.00 : Estimated Depth Bias at time = 1520.00 : -5.80 : Estimated northing and easting = 4074026.69 : 591238.17 : NMEA Update: $GPGGA,162550.29,3648.4858,N,-12158.6590,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,162551.00,3648.48562,N,12158.65877,W,1,09,1.0,-3.31,M,-32.92,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162551.29,3648.4856,N,-12158.6587,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,162552.00,3648.48539,N,12158.65851,W,1,09,1.0,-2.78,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162552.29,3648.4854,N,-12158.6585,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162553.00,3648.48531,N,12158.65832,W,1,09,1.0,-2.56,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162553.29,3648.4853,N,-12158.6583,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,162554.00,3648.48521,N,12158.65810,W,1,09,1.0,-2.53,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162554.29,3648.4852,N,-12158.6581,W,1,03,00.5,113.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162555.00,3648.48519,N,12158.65786,W,1,09,1.0,-2.67,M,-32.92,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162555.29,3648.4852,N,-12158.6578,W,1,03,00.5,110.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162556.00,3648.48509,N,12158.65770,W,1,09,1.0,-2.53,M,-32.92,M,,*7E : BluefinBatt Reply: $b3q0 d- 32.95 1.90 20.41 4.05 4.12 0 7328.34 01:43:38 m : NMEA Update: $GPGGA,162556.29,3648.4851,N,-12158.6577,W,1,03,00.5,113.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162557.00,3648.48514,N,12158.65736,W,1,09,1.0,-2.72,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162557.29,3648.4852,N,-12158.6573,W,1,03,00.5,112.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162558.00,3648.48490,N,12158.65717,W,1,09,1.0,-3.06,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.75 1.15 17.96 4.05 4.13 0 30631.45 01:43:40 m : NMEA Update: $GPGGA,162558.29,3648.4849,N,-12158.6572,W,1,03,00.5,103.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162559.00,3648.48496,N,12158.65697,W,1,09,1.0,-3.08,M,-32.92,M,,*71 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162559.29,3648.4850,N,-12158.6570,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162600.00,3648.48471,N,12158.65689,W,1,09,1.0,-3.12,M,-32.92,M,,*73 : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4074069.76, 591197.36) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1530.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,162600.29,3648.4847,N,-12158.6569,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : Estimated North Bias at time = 1530.00 : -44.00 : Estimated East Bias at time = 1530.00 : 44.00 : Estimated Depth Bias at time = 1530.00 : -5.79 : Estimated northing and easting = 4074025.76 : 591241.36 : AshtechGps::processRecord() - $GPGGA,162601.00,3648.48460,N,12158.65667,W,1,09,1.0,-3.37,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162601.29,3648.4846,N,-12158.6566,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,162602.00,3648.48447,N,12158.65656,W,1,09,1.0,-3.70,M,-32.92,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162602.29,3648.4844,N,-12158.6565,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,162603.00,3648.48440,N,12158.65655,W,1,09,1.0,-4.10,M,-32.92,M,,*76 : NMEA Update: $GPGGA,162603.29,3648.4844,N,-12158.6565,W,1,03,00.5,108.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162604.00,3648.48433,N,12158.65653,W,1,09,1.0,-3.72,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162604.29,3648.4843,N,-12158.6565,W,1,03,00.5,114.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162605.00,3648.48427,N,12158.65631,W,1,09,1.0,-3.30,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162605.30,3648.4843,N,-12158.6563,W,1,03,00.5,110.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162606.00,3648.48421,N,12158.65594,W,1,09,1.0,-3.07,M,-32.92,M,,*7B : BluefinBatt Reply: $b3q0 d- 32.95 2.08 20.41 4.05 4.12 0 7328.18 01:43:48 m : NMEA Update: $GPGGA,162606.30,3648.4842,N,-12158.6559,W,1,03,00.5,111.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162607.00,3648.48417,N,12158.65558,W,1,09,1.0,-3.04,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162607.30,3648.4842,N,-12158.6555,W,1,03,00.5,111.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162608.00,3648.48407,N,12158.65524,W,1,09,1.0,-3.40,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.83 0.97 18.06 4.05 4.13 0 10631.36 01:43:50 m : NMEA Update: $GPGGA,162608.30,3648.4841,N,-12158.6552,W,1,03,00.5,108.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162609.00,3648.48404,N,12158.65511,W,1,09,1.0,-3.73,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162609.30,3648.4840,N,-12158.6551,W,1,03,00.5,112.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162610.00,3648.48397,N,12158.65507,W,1,09,1.0,-3.86,M,-32.92,M,,*75 : TerrainNav update at nav time = 1539.994503 : TerrainNav update at dvl time = 1539.994503 : _navData-> (x,y) = (4074068.41, 591200.04) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1539.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1539.99 : -44.00 : Estimated East Bias at time = 1539.99 : 44.00 : Estimated Depth Bias at time = 1539.99 : -5.79 : Estimated northing and easting = 4074024.41 : 591244.04 : NMEA Update: $GPGGA,162610.30,3648.4840,N,-12158.6551,W,1,03,00.5,110.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162611.00,3648.48393,N,12158.65486,W,1,09,1.0,-3.86,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162611.30,3648.4839,N,-12158.6548,W,1,03,00.5,119.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162612.00,3648.48381,N,12158.65466,W,1,09,1.0,-3.89,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162612.30,3648.4838,N,-12158.6546,W,1,03,00.5,116.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162613.00,3648.48367,N,12158.65447,W,1,09,1.0,-3.89,M,-32.92,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162613.30,3648.4837,N,-12158.6544,W,1,03,00.5,116.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162614.00,3648.48354,N,12158.65425,W,1,09,1.0,-4.06,M,-32.92,M,,*70 : NMEA Update: $GPGGA,162614.30,3648.4835,N,-12158.6542,W,1,03,00.5,117.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162615.00,3648.48337,N,12158.65412,W,1,09,1.0,-4.11,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162615.30,3648.4834,N,-12158.6541,W,1,03,00.5,114.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162616.00,3648.48324,N,12158.65410,W,1,09,1.0,-3.97,M,-32.92,M,,*7C : BluefinBatt Reply: $b3q0 d- 32.99 1.25 20.41 4.05 4.12 0 7328.01 01:43:58 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162616.30,3648.4832,N,-12158.6541,W,1,03,00.5,115.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162617.00,3648.48310,N,12158.65408,W,1,09,1.0,-3.67,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162617.30,3648.4831,N,-12158.6541,W,1,03,00.5,113.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162618.00,3648.48301,N,12158.65387,W,1,09,1.0,-3.44,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.83 0.94 17.96 4.05 4.12 0 10631.22 01:44:00 m Š : NMEA Update: $GPGGA,162618.30,3648.4830,N,-12158.6538,W,1,03,00.5,118.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162619.00,3648.48302,N,12158.65348,W,1,09,1.0,-3.36,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162619.30,3648.4830,N,-12158.6534,W,1,03,00.5,117.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162620.00,3648.48293,N,12158.65318,W,1,09,1.0,-3.70,M,-32.92,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1549.993818 : TerrainNav update at dvl time = 1549.993818 : _navData-> (x,y) = (4074066.55, 591202.98) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1549.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1549.99 : -44.00 : Estimated East Bias at time = 1549.99 : 44.00 : Estimated Depth Bias at time = 1549.99 : -5.79 : Estimated northing and easting = 4074022.55 : 591246.98 : NMEA Update: $GPGGA,162620.30,3648.4829,N,-12158.6532,W,1,03,00.5,116.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162621.00,3648.48298,N,12158.65306,W,1,09,1.0,-3.61,M,-32.92,M,,*77 : NMEA Update: $GPGGA,162621.30,3648.4830,N,-12158.6531,W,1,03,00.5,115.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162622.00,3648.48275,N,12158.65294,W,1,09,1.0,-3.00,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162622.30,3648.4827,N,-12158.6529,W,1,03,00.5,116.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162623.00,3648.48283,N,12158.65269,W,1,09,1.0,-3.32,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162623.30,3648.4828,N,-12158.6526,W,1,03,00.5,116.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162624.00,3648.48283,N,12158.65232,W,1,09,1.0,-3.39,M,-32.92,M,,*73 : NMEA Update: $GPGGA,162624.30,3648.4828,N,-12158.6523,W,1,03,00.5,111.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162625.00,3648.48274,N,12158.65207,W,1,09,1.0,-3.38,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162625.30,3648.4827,N,-12158.6520,W,1,03,00.5,117.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162626.00,3648.48276,N,12158.65182,W,1,09,1.0,-3.63,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.95 1.82 20.41 4.05 4.12 0 7327.79 01:44:08 m : NMEA Update: $GPGGA,162626.30,3648.4827,N,-12158.6518,W,1,03,00.5,114.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162627.00,3648.48254,N,12158.65163,W,1,09,1.0,-3.78,M,-32.92,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162627.30,3648.4825,N,-12158.6516,W,1,03,00.5,117.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162628.00,3648.48247,N,12158.65154,W,1,09,1.0,-4.07,M,-32.92,M,,*7E : BluefinBatt Reply: $b4q0 d- 32.79 0.94 17.96 4.05 4.12 0 10631.13 01:44:10 m : NMEA Update: $GPGGA,162628.30,3648.4825,N,-12158.6515,W,1,03,00.5,110.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162629.00,3648.48234,N,12158.65156,W,1,09,1.0,-3.94,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162629.30,3648.4823,N,-12158.6516,W,1,03,00.5,116.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162630.00,3648.48226,N,12158.65144,W,1,10,0.8,-3.51,M,-32.92,M,,*74 : TerrainNav update at nav time = 1560.003133 : TerrainNav update at dvl time = 1560.003133 : _navData-> (x,y) = (4074065.30, 591205.47) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1560.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1560.00 : -44.00 : Estimated East Bias at time = 1560.00 : 44.00 : Estimated Depth Bias at time = 1560.00 : -5.79 : Estimated northing and easting = 4074021.30 : 591249.47 : NMEA Update: $GPGGA,162630.30,3648.4822,N,-12158.6514,W,1,03,00.5,115.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162631.00,3648.48219,N,12158.65112,W,1,10,0.8,-3.24,M,-32.92,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162631.30,3648.4822,N,-12158.6510,W,1,03,00.5,114.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162632.00,3648.48207,N,12158.65083,W,1,10,0.8,-3.42,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162632.30,3648.4821,N,-12158.6508,W,1,03,00.5,112.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162633.00,3648.48203,N,12158.65078,W,1,10,0.8,-3.57,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162633.30,3648.4820,N,-12158.6508,W,1,03,00.5,114.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162634.00,3648.48196,N,12158.65066,W,1,10,0.8,-3.42,M,-32.92,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162634.30,3648.4820,N,-12158.6506,W,1,03,00.5,115.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162635.00,3648.48194,N,12158.65043,W,1,10,0.8,-3.38,M,-32.92,M,,*72 : NMEA Update: $GPGGA,162635.30,3648.4819,N,-12158.6504,W,1,03,00.5,112.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162636.00,3648.48182,N,12158.65022,W,1,10,0.8,-3.29,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.95 1.63 20.41 4.05 4.12 0 7327.65 01:44:18 m : NMEA Update: $GPGGA,162636.30,3648.4818,N,-12158.6502,W,1,03,00.5,117.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162637.00,3648.48184,N,12158.64998,W,1,10,0.8,-3.24,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162637.30,3648.4818,N,-12158.6499,W,1,03,00.5,113.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162638.00,3648.48174,N,12158.64970,W,1,10,0.8,-3.36,M,-32.92,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.83 0.94 17.96 4.05 4.12 0 10630.99 01:44:20 m : NMEA Update: $GPGGA,162638.30,3648.4817,N,-12158.6496,W,1,03,00.5,113.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162639.00,3648.48171,N,12158.64955,W,1,10,0.8,-3.57,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162639.30,3648.4817,N,-12158.6495,W,1,03,00.5,110.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162640.00,3648.48149,N,12158.64942,W,1,10,0.8,-3.52,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1570.002448 : TerrainNav update at dvl time = 1570.002448 : _navData-> (x,y) = (4074063.91, 591208.49) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1570.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1570.00 : -44.00 : Estimated East Bias at time = 1570.00 : 44.00 : Estimated Depth Bias at time = 1570.00 : -5.79 : Estimated northing and easting = 4074019.91 : 591252.49 : NMEA Update: $GPGGA,162640.30,3648.4815,N,-12158.6494,W,1,03,00.5,116.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162641.00,3648.48149,N,12158.64924,W,1,10,0.8,-3.51,M,-32.92,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162641.30,3648.4815,N,-12158.6492,W,1,03,00.5,112.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162642.00,3648.48138,N,12158.64907,W,1,10,0.8,-3.50,M,-32.92,M,,*72 : NMEA Update: $GPGGA,162642.30,3648.4814,N,-12158.6490,W,1,03,00.5,114.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162643.00,3648.48130,N,12158.64895,W,1,10,0.8,-3.39,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162643.30,3648.4813,N,-12158.6489,W,1,03,00.5,115.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162644.00,3648.48130,N,12158.64882,W,1,10,0.8,-3.37,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162644.30,3648.4813,N,-12158.6488,W,1,03,00.5,111.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162645.00,3648.48116,N,12158.64860,W,1,10,0.8,-3.34,M,-32.92,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162645.30,3648.4811,N,-12158.6486,W,1,03,00.5,119.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162646.00,3648.48111,N,12158.64842,W,1,10,0.8,-3.42,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.99 1.25 20.41 4.05 4.12 0 7327.46 01:44:28 m : NMEA Update: $GPGGA,162646.30,3648.4811,N,-12158.6484,W,1,03,00.5,109.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162647.00,3648.48101,N,12158.64828,W,1,10,0.8,-3.58,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162647.30,3648.4810,N,-12158.6483,W,1,03,00.5,109.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162648.00,3648.48093,N,12158.64816,W,1,10,0.8,-3.40,M,-32.92,M,,*78 : BluefinBatt Reply: $b4q0(d- 32.83 0.90 17.96 4.05 4.12 0 10630.90 01:44:30 m : NMEA Update: $GPGGA,162648.30,3648.4809,N,-12158.6481,W,1,03,00.5,116.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162649.00,3648.48086,N,12158.64793,W,1,10,0.8,-3.17,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162649.30,3648.4808,N,-12158.6479,W,1,03,00.5,112.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162650.00,3648.48082,N,12158.64765,W,1,10,0.8,-3.26,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1580.001763 : TerrainNav update at dvl time = 1580.001763 : _navData-> (x,y) = (4074062.74, 591211.20) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1580.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1580.00 : -44.00 : Estimated East Bias at time = 1580.00 : 44.00 : Estimated Depth Bias at time = 1580.00 : -5.79 : Estimated northing and easting = 4074018.74 : 591255.20 : NMEA Update: $GPGGA,162650.30,3648.4808,N,-12158.6476,W,1,03,00.5,112.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162651.00,3648.48074,N,12158.64742,W,1,10,0.8,-3.53,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162651.29,3648.4807,N,-12158.6474,W,1,03,00.5,112.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162652.00,3648.48067,N,12158.64734,W,1,10,0.8,-3.49,M,-32.92,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162652.29,3648.4807,N,-12158.6473,W,1,03,00.5,108.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162653.00,3648.48051,N,12158.64726,W,1,10,0.8,-3.46,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162653.29,3648.4805,N,-12158.6472,W,1,03,00.5,113.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162654.00,3648.48055,N,12158.64721,W,1,10,0.8,-3.21,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162654.29,3648.4805,N,-12158.6472,W,1,03,00.5,111.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162655.00,3648.48049,N,12158.64690,W,1,10,0.8,-2.86,M,-32.92,M,,*78 : NMEA Update: $GPGGA,162655.29,3648.4805,N,-12158.6468,W,1,03,00.5,106.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162656.00,3648.48050,N,12158.64648,W,1,10,0.8,-2.94,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.95 2.58 20.41 4.05 4.12 0 7327.32 01:44:38 m : NMEA Update: $GPGGA,162656.29,3648.4805,N,-12158.6464,W,1,03,00.5,099.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162657.00,3648.48047,N,12158.64630,W,1,10,0.8,-3.59,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162657.29,3648.4805,N,-12158.6463,W,1,03,00.5,100.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162658.00,3648.48040,N,12158.64640,W,1,10,0.8,-3.67,M,-32.92,M,,*7F : BluefinBatt Reply: $b4q0 d- 32.79 1.39 17.96 4.05 4.13 0 10630.75 01:44:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162658.29,3648.4804,N,-12158.6464,W,1,03,00.5,103.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162659.00,3648.48033,N,12158.64638,W,1,10,0.8,-3.36,M,-32.92,M,,*71 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162659.29,3648.4803,N,-12158.6464,W,1,03,00.5,104.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162700.00,3648.48013,N,12158.64609,W,1,10,0.8,-3.34,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1590.001078 : TerrainNav update at dvl time = 1590.001078 : _navData-> (x,y) = (4074061.42, 591213.55) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1590.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1590.00 : -44.00 : Estimated East Bias at time = 1590.00 : 44.00 : Estimated Depth Bias at time = 1590.00 : -5.79 : Estimated northing and easting = 4074017.42 : 591257.55 : NMEA Update: $GPGGA,162700.29,3648.4801,N,-12158.6460,W,1,03,00.5,115.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162701.00,3648.48008,N,12158.64589,W,1,10,0.8,-3.29,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162701.29,3648.4801,N,-12158.6458,W,1,03,00.5,108.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162702.00,3648.48007,N,12158.64571,W,1,10,0.8,-3.26,M,-32.92,M,,*76 : NMEA Update: $GPGGA,162702.29,3648.4801,N,-12158.6457,W,1,03,00.5,109.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162703.00,3648.47997,N,12158.64551,W,1,10,0.8,-3.28,M,-32.92,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162703.29,3648.4800,N,-12158.6455,W,1,03,00.5,113.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162704.00,3648.47997,N,12158.64539,W,1,10,0.8,-3.41,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162704.29,3648.4800,N,-12158.6454,W,1,03,00.5,110.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162705.00,3648.47992,N,12158.64530,W,1,10,0.8,-3.40,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162705.29,3648.4799,N,-12158.6453,W,1,03,00.5,108.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162706.00,3648.48000,N,12158.64522,W,1,10,0.8,-3.08,M,-32.92,M,,*7F : BluefinBatt Reply: $b3q0 d- 32.95 1.71 20.41 4.05 4.12 0 7327.13 01:44:48 m : NMEA Update: $GPGGA,162706.29,3648.4800,N,-12158.6452,W,1,03,00.5,111.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162707.00,3648.47982,N,12158.64483,W,1,10,0.8,-2.92,M,-32.92,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162707.29,3648.4798,N,-12158.6448,W,1,03,00.5,113.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162708.00,3648.47980,N,12158.64450,W,1,10,0.8,-3.25,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.79 1.60 17.96 4.05 4.13 0 10630.6< 01:44:50 m : NMEA Update: $GPGGA,162708.29,3648.4798,N,-12158.6444,W,1,03,00.5,101.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162709.00,3648.47966,N,12158.64435,W,1,10,0.8,-3.63,M,-32.92,M,,*7C : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162709.29,3648.4796,N,-12158.6443,W,1,03,00.5,101.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162710.00,3648.47959,N,12158.64438,W,1,10,0.8,-3.70,M,-32.92,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1600.000392 : TerrainNav update at dvl time = 1600.000392 : _navData-> (x,y) = (4074060.45, 591216.02) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1600.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1600.00 : -44.00 : Estimated East Bias at time = 1600.00 : 44.00 : Estimated Depth Bias at time = 1600.00 : -5.79 : Estimated northing and easting = 4074016.45 : 591260.02 : NMEA Update: $GPGGA,162710.29,3648.4796,N,-12158.6444,W,1,03,00.5,099.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162711.00,3648.47953,N,12158.64432,W,1,10,0.8,-3.48,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162711.29,3648.4795,N,-12158.6443,W,1,03,00.5,110.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162712.00,3648.47950,N,12158.64419,W,1,10,0.8,-3.31,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162712.29,3648.4795,N,-12158.6442,W,1,03,00.5,111.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162713.00,3648.47945,N,12158.64399,W,1,10,0.8,-3.06,M,-32.92,M,,*74 : NMEA Update: $GPGGA,162713.29,3648.4794,N,-12158.6439,W,1,03,00.5,111.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162714.00,3648.47938,N,12158.64373,W,1,10,0.8,-3.10,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162714.29,3648.4794,N,-12158.6437,W,1,03,00.5,108.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162715.00,3648.47933,N,12158.64361,W,1,10,0.8,-3.35,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162715.29,3648.4793,N,-12158.6436,W,1,03,00.5,107.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162716.00,3648.47926,N,12158.64356,W,1,10,0.8,-3.36,M,-32.92,M,,*74 : BluefinBatt Reply: $b3q0 d- 32.99 1.21 20.41 4.05 4.12 0 7326.98 01:44:58 m : NMEA Update: $GPGGA,162716.29,3648.4793,N,-12158.6435,W,1,03,00.5,108.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162717.00,3648.47931,N,12158.64337,W,1,10,0.8,-3.20,M,-32.92,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162717.29,3648.4793,N,-12158.6433,W,1,03,00.5,110.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162718.00,3648.47930,N,12158.64304,W,1,10,0.8,-3.20,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.83 1.29 17.87 4.05 4.13 0 10630.53 01:45:00 m : NMEA Update: $GPGGA,162718.29,3648.4793,N,-12158.6430,W,1,03,00.5,110.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162719.00,3648.47932,N,12158.64282,W,1,10,0.8,-3.39,M,-32.92,M,,*79 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162719.29,3648.4793,N,-12158.6428,W,1,03,00.5,108.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162720.00,3648.47917,N,12158.64269,W,1,10,0.8,-3.60,M,-32.92,M,,*7D : TerrainNav update at nav time = 1609.999707 : TerrainNav update at dvl time = 1609.999707 : _navData-> (x,y) = (4074059.71, 591218.56) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1610.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1610.00 : -44.00 : Estimated East Bias at time = 1610.00 : 44.00 : Estimated Depth Bias at time = 1610.00 : -5.79 : Estimated northing and easting = 4074015.71 : 591262.56 : NMEA Update: $GPGGA,162720.29,3648.4791,N,-12158.6427,W,1,03,00.5,109.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162721.00,3648.47901,N,12158.64266,W,1,10,0.8,-3.52,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162721.29,3648.4790,N,-12158.6427,W,1,03,00.5,110.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162722.00,3648.47891,N,12158.64248,W,1,10,0.8,-3.46,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162722.29,3648.4789,N,-12158.6424,W,1,03,00.5,108.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162723.00,3648.47884,N,12158.64224,W,1,10,0.8,-3.47,M,-32.92,M,,*79 : NMEA Update: $GPGGA,162723.29,3648.4788,N,-12158.6422,W,1,03,00.5,110.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162724.00,3648.47879,N,12158.64211,W,1,10,0.8,-3.44,M,-32.92,M,,*79 : NMEA Update: $GPGGA,162724.29,3648.4788,N,-12158.6421,W,1,03,00.5,107.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162725.00,3648.47874,N,12158.64203,W,1,10,0.8,-3.58,M,-32.92,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162725.29,3648.4787,N,-12158.6420,W,1,03,00.5,108.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162726.00,3648.47868,N,12158.64204,W,1,10,0.8,-3.30,M,-32.92,M,,*7C : BluefinBatt Reply: $b3q0 d- 32.99 1.82 20.41 4.05 4.12 0 7326.80 01:45:08 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162726.29,3648.4787,N,-12158.6420,W,1,03,00.5,107.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162727.00,3648.47859,N,12158.64184,W,1,10,0.8,-2.92,M,-32.92,M,,*7D : NMEA Update: $GPGGA,162727.29,3648.4786,N,-12158.6418,W,1,03,00.5,111.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162728.00,3648.47861,N,12158.64153,W,1,10,0.8,-3.10,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt::sample() - Only parsed 1 from reply $b4q0 d- 32.83* 0.94 17.96 4.05 4.13 0 10630.46 01:45:10 m : NMEA Update: $GPGGA,162728.29,3648.4786,N,-12158.6415,W,1,03,00.5,110.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162729.00,3648.47861,N,12158.64136,W,1,10,0.8,-3.17,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162729.29,3648.4786,N,-12158.6413,W,1,03,00.5,104.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162730.00,3648.47867,N,12158.64125,W,1,10,0.8,-3.03,M,-32.92,M,,*74 : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4074058.85, 591220.70) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1620.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1620.00 : -44.00 : Estimated East Bias at time = 1620.00 : 44.00 : Estimated Depth Bias at time = 1620.00 : -5.79 : Estimated northing and easting = 4074014.85 : 591264.70 : NMEA Update: $GPGGA,162730.29,3648.4787,N,-12158.6412,W,1,03,00.5,110.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162731.00,3648.47860,N,12158.64093,W,1,10,0.8,-3.05,M,-32.92,M,,*78 : NMEA Update: $GPGGA,162731.29,3648.4786,N,-12158.6409,W,1,03,00.5,110.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162732.00,3648.47861,N,12158.64078,W,1,10,0.8,-3.12,M,-32.92,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162732.29,3648.4786,N,-12158.6407,W,1,03,00.5,108.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162733.00,3648.47849,N,12158.64047,W,1,10,0.8,-3.18,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162733.29,3648.4785,N,-12158.6404,W,1,03,00.5,103.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162734.00,3648.47857,N,12158.64036,W,1,10,0.8,-3.62,M,-32.92,M,,*77 : NMEA Update: $GPGGA,162734.29,3648.4786,N,-12158.6404,W,1,03,00.5,098.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162735.00,3648.47840,N,12158.64032,W,1,10,0.8,-3.49,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162735.29,3648.4784,N,-12158.6403,W,1,03,00.5,101.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162736.00,3648.47836,N,12158.64025,W,1,10,0.8,-3.20,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 33.03 1.21 20.41 4.05 4.12 0 7326.67 01:45:18 m : NMEA Update: $GPGGA,162736.29,3648.4784,N,-12158.6402,W,1,03,00.5,098.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162737.00,3648.47832,N,12158.63997,W,1,10,0.8,-3.20,M,-32.92,M,,*74 : NMEA Update: $GPGGA,162737.29,3648.4783,N,-12158.6399,W,1,03,00.5,101.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162738.00,3648.47831,N,12158.63978,W,1,10,0.8,-3.45,M,-32.92,M,,*7A : BluefinBatt Reply: $b4q0 d- 32.83 1.29 17.96 4.05 4.12 0 10630.35 01:45:20 m : NMEA Update: $GPGGA,162738.29,3648.4783,N,-12158.6397,W,1,03,00.5,099.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162739.00,3648.47825,N,12158.63971,W,1,10,0.8,-3.56,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162739.29,3648.4782,N,-12158.6397,W,1,03,00.5,098.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162740.00,3648.47808,N,12158.63962,W,1,10,0.8,-3.55,M,-32.92,M,,*75 : TerrainNav update at nav time = 1629.998338 : TerrainNav update at dvl time = 1629.998338 : _navData-> (x,y) = (4074057.74, 591223.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Measurement from time = 1630.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1630.00 : -44.00 : Estimated East Bias at time = 1630.00 : 44.00 : Estimated Depth Bias at time = 1630.00 : -5.79 : Estimated northing and easting = 4074013.74 : 591267.14 : NMEA Update: $GPGGA,162740.29,3648.4781,N,-12158.6396,W,1,03,00.5,107.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162741.00,3648.47799,N,12158.63956,W,1,10,0.8,-3.42,M,-32.92,M,,*72 : NMEA Update: $GPGGA,162741.29,3648.4780,N,-12158.6395,W,1,03,00.5,109.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162742.00,3648.47803,N,12158.63951,W,1,10,0.8,-3.18,M,-32.92,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162742.29,3648.4780,N,-12158.6395,W,1,03,00.5,104.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162743.00,3648.47796,N,12158.63920,W,1,10,0.8,-2.70,M,-32.92,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162743.29,3648.4780,N,-12158.6392,W,1,03,00.5,102.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162744.00,3648.47801,N,12158.63886,W,1,10,0.8,-3.05,M,-32.92,M,,*76 : NMEA Update: $GPGGA,162744.29,3648.4780,N,-12158.6388,W,1,03,00.5,097.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162745.00,3648.47791,N,12158.63862,W,1,10,0.8,-2.95,M,-32.92,M,,*73 : NMEA Update: $GPGGA,162745.29,3648.4779,N,-12158.6386,W,1,03,00.5,101.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162746.00,3648.47803,N,12158.63846,W,1,10,0.8,-3.34,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.99 1.25 20.41 4.05 4.12 0 7326.51 01:45:28 m : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162746.29,3648.4780,N,-12158.6384,W,1,03,00.5,098.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162747.00,3648.47802,N,12158.63843,W,1,10,0.8,-3.38,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162747.29,3648.4780,N,-12158.6384,W,1,03,00.5,101.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162748.00,3648.47797,N,12158.63837,W,1,10,0.8,-3.07,M,-32.92,M,,*72 : BluefinBatt Reply: $b4q0 d- 32.83 0.87 18.06 4.05 4.12 0 10630.25 01:45:30 mM : NMEA Update: $GPGGA,162748.29,3648.4780,N,-12158.6383,W,1,03,00.5,100.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162749.00,3648.47793,N,12158.63811,W,1,10,0.8,-3.17,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162749.29,3648.4779,N,-12158.6381,W,1,03,00.5,101.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162750.00,3648.47784,N,12158.63790,W,1,10,0.8,-3.19,M,-32.92,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1639.997653 : TerrainNav update at dvl time = 1639.997653 : _navData-> (x,y) = (4074057.32, 591225.74) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1640.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1640.00 : -44.00 : Estimated East Bias at time = 1640.00 : 44.00 : Estimated Depth Bias at time = 1640.00 : -5.79 : Estimated northing and easting = 4074013.32 : 591269.74 : NMEA Update: $GPGGA,162750.29,3648.4778,N,-12158.6379,W,1,03,00.5,100.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162751.00,3648.47782,N,12158.63769,W,1,10,0.8,-3.22,M,-32.92,M,,*7D : NMEA Update: $GPGGA,162751.29,3648.4778,N,-12158.6376,W,1,03,00.5,100.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162752.00,3648.47767,N,12158.63743,W,1,10,0.8,-3.54,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162752.29,3648.4777,N,-12158.6374,W,1,03,00.5,098.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162753.00,3648.47763,N,12158.63739,W,1,10,0.8,-3.90,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162753.29,3648.4776,N,-12158.6374,W,1,03,00.5,104.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162754.00,3648.47748,N,12158.63746,W,1,10,0.8,-3.61,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162754.29,3648.4775,N,-12158.6375,W,1,03,00.5,105.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162755.00,3648.47744,N,12158.63742,W,1,10,0.8,-3.38,M,-32.92,M,,*71 : NMEA Update: $GPGGA,162755.29,3648.4774,N,-12158.6374,W,1,03,00.5,109.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162756.00,3648.47734,N,12158.63723,W,1,10,0.8,-3.16,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.95 1.86 20.41 4.05 4.12 0 7326.39 01:45:38 m : NMEA Update: $GPGGA,162756.29,3648.4773,N,-12158.6372,W,1,03,00.5,104.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162757.00,3648.47724,N,12158.63698,W,1,10,0.8,-2.94,M,-32.92,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162757.29,3648.4772,N,-12158.6369,W,1,03,00.5,109.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162758.00,3648.47725,N,12158.63671,W,1,10,0.8,-2.99,M,-32.92,M,,*70 : BluefinBatt Reply: $b4q0 d- 32.79 0.94 17.96 4.05 4.13 0 10630.14 01:45:40 m : NMEA Update: $GPGGA,162758.29,3648.4772,N,-12158.6367,W,1,03,00.5,106.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162759.00,3648.47727,N,12158.63644,W,1,10,0.8,-3.11,M,-32.92,M,,*74 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162759.29,3648.4773,N,-12158.6364,W,1,03,00.5,105.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162800.00,3648.47732,N,12158.63628,W,1,10,0.8,-3.27,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1649.996968 : TerrainNav update at dvl time = 1649.996968 : _navData-> (x,y) = (4074056.45, 591228.16) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1650.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1650.00 : -44.00 : Estimated East Bias at time = 1650.00 : 44.00 : Estimated Depth Bias at time = 1650.00 : -5.79 : Estimated northing and easting = 4074012.45 : 591272.16 : NMEA Update: $GPGGA,162800.29,3648.4773,N,-12158.6362,W,1,03,00.5,108.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162801.00,3648.47729,N,12158.63624,W,1,10,0.8,-3.17,M,-32.92,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162801.29,3648.4773,N,-12158.6362,W,1,03,00.5,103.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162802.00,3648.47715,N,12158.63610,W,1,10,0.8,-2.72,M,-32.92,M,,*71 : NMEA Update: $GPGGA,162802.29,3648.4771,N,-12158.6361,W,1,03,00.5,108.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162803.00,3648.47707,N,12158.63575,W,1,10,0.8,-2.95,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162803.29,3648.4771,N,-12158.6357,W,1,03,00.5,103.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162804.00,3648.47708,N,12158.63555,W,1,10,0.8,-3.37,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162804.29,3648.4771,N,-12158.6355,W,1,03,00.5,104.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162805.00,3648.47700,N,12158.63545,W,1,10,0.8,-3.43,M,-32.92,M,,*72 : NMEA Update: $GPGGA,162805.29,3648.4770,N,-12158.6354,W,1,03,00.5,107.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162806.00,3648.47706,N,12158.63540,W,1,10,0.8,-3.44,M,-32.92,M,,*75 : BluefinBatt Reply: $b3q0 d- 32.95 2.08 20.41 4.05 4.12 0 7326.23 01:45:48 m : NMEA Update: $GPGGA,162806.29,3648.4771,N,-12158.6354,W,1,03,00.5,102.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162807.00,3648.47698,N,12158.63532,W,1,10,0.8,-3.14,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162807.29,3648.4770,N,-12158.6353,W,1,03,00.5,112.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162808.00,3648.47686,N,12158.63501,W,1,10,0.8,-2.83,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.71 1.92 17.96 4.05 4.13 0 10630.03 01:45:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162808.29,3648.4768,N,-12158.6349,W,1,03,00.5,108.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162809.00,3648.47671,N,12158.63457,W,1,10,0.8,-3.23,M,-32.92,M,,*7D : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162809.29,3648.4767,N,-12158.6345,W,1,03,00.5,103.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162810.00,3648.47659,N,12158.63447,W,1,10,0.8,-3.81,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1659.996283 : TerrainNav update at dvl time = 1659.996283 : _navData-> (x,y) = (4074055.03, 591230.80) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1660.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1660.00 : -44.00 : Estimated East Bias at time = 1660.00 : 44.00 : Estimated Depth Bias at time = 1660.00 : -5.79 : Estimated northing and easting = 4074011.03 : 591274.80 : NMEA Update: $GPGGA,162810.29,3648.4766,N,-12158.6345,W,1,03,00.5,101.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162811.00,3648.47668,N,12158.63465,W,1,10,0.8,-3.93,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162811.29,3648.4767,N,-12158.6347,W,1,03,00.5,103.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162812.00,3648.47653,N,12158.63458,W,1,10,0.8,-3.27,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162812.29,3648.4765,N,-12158.6346,W,1,03,00.5,114.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162813.00,3648.47648,N,12158.63422,W,1,10,0.8,-2.96,M,-32.92,M,,*71 : NMEA Update: $GPGGA,162813.29,3648.4765,N,-12158.6341,W,1,03,00.5,107.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162814.00,3648.47631,N,12158.63384,W,1,10,0.8,-2.75,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162814.29,3648.4763,N,-12158.6338,W,1,03,00.5,107.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162815.00,3648.47632,N,12158.63361,W,1,10,0.8,-2.99,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162815.29,3648.4763,N,-12158.6336,W,1,03,00.5,106.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162816.00,3648.47629,N,12158.63355,W,1,10,0.8,-3.21,M,-32.92,M,,*79 : BluefinBatt Reply: $b3q0 d- 32.95 1.86 20.41 4.05 4.12 0 7326.12 01:45:58 m : NMEA Update: $GPGGA,162816.29,3648.4763,N,-12158.6335,W,1,03,00.5,102.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162817.00,3648.47639,N,12158.63351,W,1,10,0.8,-3.13,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162817.29,3648.4764,N,-12158.6335,W,1,03,00.5,106.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162818.00,3648.47635,N,12158.63340,W,1,10,0.8,-3.15,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.83 0.94 17.96 4.05 4.13 0 10629.91 01:46:00 m : NMEA Update: $GPGGA,162818.29,3648.4764,N,-12158.6334,W,1,03,00.5,104.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,162819.00,3648.47633,N,12158.63317,W,1,10,0.8,-2.87,M,-32.92,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162819.29,3648.4763,N,-12158.6331,W,1,03,00.5,108.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162820.00,3648.47628,N,12158.63282,W,1,10,0.8,-2.73,M,-32.92,M,,*70 : TerrainNav update at nav time = 1669.995598 : TerrainNav update at dvl time = 1669.995598 : _navData-> (x,y) = (4074054.55, 591233.36) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1670.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1670.00 : -44.00 : Estimated East Bias at time = 1670.00 : 44.00 : Estimated Depth Bias at time = 1670.00 : -5.79 : Estimated northing and easting = 4074010.55 : 591277.36 : NMEA Update: $GPGGA,162820.29,3648.4763,N,-12158.6328,W,1,03,00.5,105.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162821.00,3648.47613,N,12158.63250,W,1,10,0.8,-3.09,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162821.29,3648.4761,N,-12158.6324,W,1,03,00.5,106.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162822.00,3648.47618,N,12158.63236,W,1,10,0.8,-3.65,M,-32.92,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162822.29,3648.4762,N,-12158.6324,W,1,03,00.5,101.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162823.00,3648.47603,N,12158.63243,W,1,10,0.8,-3.93,M,-32.92,M,,*78 : NMEA Update: $GPGGA,162823.29,3648.4760,N,-12158.6325,W,1,03,00.5,109.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162824.00,3648.47607,N,12158.63250,W,1,10,0.8,-3.82,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162824.29,3648.4760,N,-12158.6325,W,1,03,00.5,104.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162825.00,3648.47587,N,12158.63237,W,1,10,0.8,-3.64,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162825.29,3648.4758,N,-12158.6323,W,1,03,00.5,105.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162826.00,3648.47573,N,12158.63207,W,1,09,1.0,-3.61,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b3q0 d- 32.99 1.21 20.41 4.05 4.12 0 7325.95 01:46:08 m : NMEA Update: $GPGGA,162826.29,3648.4757,N,-12158.6320,W,1,03,00.5,105.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162827.00,3648.47568,N,12158.63170,W,1,09,1.0,-3.38,M,-32.92,M,,*71 : NMEA Update: $GPGGA,162827.29,3648.4757,N,-12158.6316,W,1,03,00.5,100.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162828.00,3648.47562,N,12158.63159,W,1,09,1.0,-3.62,M,-32.92,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.79 1.39 17.96 4.05 4.13 0 10629.81 01:46:10 m : NMEA Update: $GPGGA,162828.29,3648.4756,N,-12158.6316,W,1,03,00.5,104.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162829.00,3648.47559,N,12158.63161,W,1,09,1.0,-3.56,M,-32.92,M,,*75 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162829.29,3648.4756,N,-12158.6316,W,1,03,00.5,106.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162830.00,3648.47555,N,12158.63153,W,1,09,1.0,-3.43,M,-32.92,M,,*74 : TerrainNav update at nav time = 1679.994913 : TerrainNav update at dvl time = 1679.994913 : _navData-> (x,y) = (4074053.23, 591235.23) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1679.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1679.99 : -44.00 : Estimated East Bias at time = 1679.99 : 44.00 : Estimated Depth Bias at time = 1679.99 : -5.79 : Estimated northing and easting = 4074009.23 : 591279.23 : NMEA Update: $GPGGA,162830.29,3648.4755,N,-12158.6315,W,1,03,00.5,108.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162831.00,3648.47557,N,12158.63127,W,1,09,1.0,-3.18,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162831.30,3648.4756,N,-12158.6312,W,1,03,00.5,109.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162832.00,3648.47549,N,12158.63095,W,1,09,1.0,-3.09,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162832.30,3648.4755,N,-12158.6309,W,1,03,00.5,106.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162833.00,3648.47541,N,12158.63060,W,1,09,1.0,-2.70,M,-32.92,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162833.30,3648.4754,N,-12158.6305,W,1,03,00.5,109.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162834.00,3648.47537,N,12158.63034,W,1,09,1.0,-2.94,M,-32.92,M,,*7F : NMEA Update: $GPGGA,162834.30,3648.4754,N,-12158.6303,W,1,03,00.5,105.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162835.00,3648.47542,N,12158.63029,W,1,09,1.0,-3.32,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162835.30,3648.4754,N,-12158.6303,W,1,03,00.5,102.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162836.00,3648.47542,N,12158.63030,W,1,09,1.0,-3.53,M,-32.92,M,,*71 : BluefinBatt Reply: $b3q0 d- 33.03 1.29 20.41 4.05 4.12 0 7325.85 01:46:18 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162836.30,3648.4754,N,-12158.6303,W,1,03,00.5,102.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162837.00,3648.47538,N,12158.63013,W,1,10,0.8,-4.10,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162837.30,3648.4754,N,-12158.6301,W,1,03,00.5,105.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162838.00,3648.47522,N,12158.62984,W,1,10,0.8,-3.67,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b4q0 d- 32.83 1.01 17.96 4.05 4.12 0 10629.68 01:46:20 m : NMEA Update: $GPGGA,162838.30,3648.4752,N,-12158.6298,W,1,03,00.5,102.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162839.00,3648.47512,N,12158.62958,W,1,10,0.8,-3.72,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162839.30,3648.4751,N,-12158.6296,W,1,03,00.5,102.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162840.00,3648.47496,N,12158.62948,W,1,10,0.8,-3.91,M,-32.92,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1689.994228 : TerrainNav update at dvl time = 1689.994228 : _navData-> (x,y) = (4074052.12, 591238.29) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1689.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1689.99 : -44.00 : Estimated East Bias at time = 1689.99 : 44.00 : Estimated Depth Bias at time = 1689.99 : -5.79 : Estimated northing and easting = 4074008.12 : 591282.29 : NMEA Update: $GPGGA,162840.30,3648.4749,N,-12158.6295,W,1,03,00.5,104.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162841.00,3648.47481,N,12158.62952,W,1,10,0.8,-3.97,M,-32.92,M,,*7A : NMEA Update: $GPGGA,162841.30,3648.4748,N,-12158.6295,W,1,03,00.5,101.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162842.00,3648.47475,N,12158.62956,W,1,10,0.8,-3.66,M,-32.92,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162842.30,3648.4747,N,-12158.6296,W,1,03,00.5,111.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162843.00,3648.47462,N,12158.62953,W,1,10,0.8,-3.12,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162843.30,3648.4746,N,-12158.6295,W,1,03,00.5,105.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162844.00,3648.47454,N,12158.62931,W,1,10,0.8,-2.75,M,-32.92,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162844.30,3648.4745,N,-12158.6293,W,1,03,00.5,105.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162845.00,3648.47449,N,12158.62893,W,1,10,0.8,-2.58,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162845.30,3648.4745,N,-12158.6289,W,1,03,00.5,104.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162846.00,3648.47446,N,12158.62863,W,1,10,0.8,-2.80,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.91 2.62 20.41 4.05 4.12 0 7325.67 01:46:28 m : NMEA Update: $GPGGA,162846.30,3648.4745,N,-12158.6286,W,1,03,00.5,104.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162847.00,3648.47447,N,12158.62840,W,1,10,0.8,-2.89,M,-32.92,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162847.30,3648.4745,N,-12158.6284,W,1,03,00.5,103.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162848.00,3648.47456,N,12158.62814,W,1,10,0.8,-2.69,M,-32.92,M,,*7A : BluefinBatt Reply: $b4q0 d- 32.79 1.50 17.96 4.05 4.12 0 10629.58 01:46:30 m : NMEA Update: $GPGGA,162848.30,3648.4746,N,-12158.6281,W,1,03,00.5,103.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162849.00,3648.47453,N,12158.62799,W,1,10,0.8,-2.89,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162849.30,3648.4745,N,-12158.6280,W,1,03,00.5,101.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162850.00,3648.47455,N,12158.62786,W,1,10,0.8,-3.06,M,-32.92,M,,*7C : TerrainNav update at nav time = 1699.993542 : TerrainNav update at dvl time = 1699.993542 : _navData-> (x,y) = (4074051.44, 591240.70) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1699.99 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1699.99 : -44.00 : Estimated East Bias at time = 1699.99 : 44.00 : Estimated Depth Bias at time = 1699.99 : -5.79 : Estimated northing and easting = 4074007.44 : 591284.70 : NMEA Update: $GPGGA,162850.30,3648.4745,N,-12158.6278,W,1,03,00.5,106.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162851.00,3648.47443,N,12158.62769,W,1,10,0.8,-2.94,M,-32.92,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162851.30,3648.4744,N,-12158.6277,W,1,03,00.5,104.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162852.00,3648.47439,N,12158.62738,W,1,10,0.8,-3.38,M,-32.92,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162852.30,3648.4744,N,-12158.6273,W,1,03,00.5,105.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162853.00,3648.47425,N,12158.62731,W,1,10,0.8,-3.69,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162853.30,3648.4742,N,-12158.6273,W,1,03,00.5,105.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162854.00,3648.47415,N,12158.62739,W,1,10,0.8,-3.26,M,-32.92,M,,*7A : NMEA Update: $GPGGA,162854.30,3648.4741,N,-12158.6274,W,1,03,00.5,103.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162855.00,3648.47395,N,12158.62735,W,1,10,0.8,-3.03,M,-32.92,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162855.30,3648.4739,N,-12158.6273,W,1,03,00.5,103.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162856.00,3648.47403,N,12158.62702,W,1,10,0.8,-2.83,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 33.03 1.40 20.41 4.05 4.12 0 7325.58 01:46:38 m : NMEA Update: $GPGGA,162856.30,3648.4740,N,-12158.6270,W,1,03,00.5,102.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162857.00,3648.47381,N,12158.62689,W,1,10,0.8,-2.82,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162857.30,3648.4738,N,-12158.6269,W,1,03,00.5,101.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162858.00,3648.47352,N,12158.62681,W,1,10,0.8,-2.93,M,-32.92,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : BluefinBatt Reply: $b4q0 d- 32.83 1.50 17.96 4.05 4.13 0 10629.44 01:46:40 m : NMEA Update: $GPGGA,162858.30,3648.4735,N,-12158.6268,W,1,03,00.5,103.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162859.00,3648.47348,N,12158.62654,W,1,10,0.8,-2.79,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162859.30,3648.4735,N,-12158.6265,W,1,03,00.5,102.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162900.00,3648.47351,N,12158.62635,W,1,10,0.8,-3.20,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4074049.56, 591243.00) : _tercom->outstandingMeas() = 0 : TerrainNav::Measurement from time = 1710.00 sec. not included; there are no good beams from the sonar. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1710.00 : -44.00 : Estimated East Bias at time = 1710.00 : 44.00 : Estimated Depth Bias at time = 1710.00 : -5.79 : Estimated northing and easting = 4074005.56 : 591287.00 : NMEA Update: $GPGGA,162900.30,3648.4735,N,-12158.6263,W,1,03,00.5,101.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162901.00,3648.47362,N,12158.62621,W,1,10,0.8,-3.22,M,-32.92,M,,*70 : NMEA Update: $GPGGA,162901.30,3648.4736,N,-12158.6262,W,1,03,00.5,106.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162902.00,3648.47358,N,12158.62612,W,1,10,0.8,-3.48,M,-32.92,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162902.30,3648.4736,N,-12158.6261,W,1,03,00.5,103.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162903.00,3648.47340,N,12158.62598,W,1,10,0.8,-3.48,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162903.30,3648.4734,N,-12158.6260,W,1,03,00.5,102.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162904.00,3648.47333,N,12158.62561,W,1,10,0.8,-3.07,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162904.30,3648.4733,N,-12158.6256,W,1,03,00.5,105.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162905.00,3648.47311,N,12158.62526,W,1,10,0.8,-3.55,M,-32.92,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,162905.30,3648.4731,N,-12158.6252,W,1,03,00.5,100.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162906.00,3648.47303,N,12158.62511,W,1,10,0.8,-4.03,M,-32.92,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 32.99 1.21 20.41 4.05 4.12 0 7325.41 01:46:48 m : NMEA Update: $GPGGA,162906.30,3648.4730,N,-12158.6251,W,1,03,00.5,102.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162907.00,3648.47308,N,12158.62511,W,1,10,0.8,-3.95,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162907.30,3648.4731,N,-12158.6251,W,1,03,00.5,104.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162908.00,3648.47297,N,12158.62515,W,1,10,0.8,-4.03,M,-32.92,M,,*72 : BluefinBatt Reply: $b4q0 d- 32.86 0.90 17.96 4.05 4.13 0 10629.35 01:46:50 m : NMEA Update: $GPGGA,162908.30,3648.4730,N,-12158.6251,W,1,03,00.5,102.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162909.00,3648.47296,N,12158.62501,W,1,10,0.8,-3.53,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : batts online 2, min cell voltage 4.050000, mean min cell voltage 4.050000 : NMEA Update: $GPGGA,162909.30,3648.4729,N,-12158.6250,W,1,03,00.5,104.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162910.00,3648.47284,N,12158.62477,W,1,10,0.8,-3.42,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1720.002172 : TerrainNav update at dvl time = 1720.002172 : _navData-> (x,y) = (4074048.32, 591245.40) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 3 beam(s) from correlation due to poor sonar data. : NMEA Update: $GPGGA,162910.30,3648.4728,N,-12158.6247,W,1,03,00.5,101.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162911.00,3648.47264,N,12158.62457,W,1,10,0.8,-3.63,M,-32.92,M,,*70 : TerrainNav::Minimum Correlation Error: 17.3830 : TerrainNav:: Measurement successfully incorporated from time = 1720.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1720.00 : -44.00 : Estimated East Bias at time = 1720.00 : 45.00 : Estimated Depth Bias at time = 1720.00 : -5.81 : Estimated northing and easting = 4074004.32 : 591290.40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00043290. : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : NavigationOutput::~NavigationOutput() : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object BluefinBattOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : SerialDeviceExt::closeSD() - closed : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object BenthosModemOutout **** : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : TaskServer::signalHandler() - _theTaskServer doesn't exist : TerrainAidDestructor Executing. : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object TerrainAidOutput **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 5d 5d 00 00 01 00 00 : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 01 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****