Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figurati: WorkSite::WorkSite -- Adding attributes onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg erver Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" CommsServer Supervisor::createTask() - navigatio: WorkSite::WorkSite -- Finished loading parameters nS: WorkSite::WorkSite -- Starting Depth is 0.000000 meters erve: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 r S: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 up: 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() - layeredC: New Navigation component constructor ontrolServer 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:: SerialDevice: done... :createTask() - dvlServer Superv: SerialDevice: done... isor::: SerialDevice: done... createTask() - fanServer Supervisor:: Gps: initializing :c: SerialDevice: done... r: SerialDevice: done... eateTas: SerialDevice: done... k() - dr: SerialDevice: done... opWei: Crossbow.cc: In getSerialNumber() ghtServer Supervisor::c: SerialDevice: done... reateTask() - sonardyneServer : SerialDevice: done... Supervisor::createTask() - cameraServer Supervisor:: SerialDevice: done... :cre: SonardyneServer.cc was last compiled on Jun 16 2009, 16:32:35 ateTask() - benthosServer Sup: DropWeight::initialize - Resetting counters. erv: **** EventTriggers::add() - attaching proxy isor::: SerialDeviceDriver::initialize() cre: Starting DVL Initialization. at: SerialDevice: done... eT: SerialDevice: done... ask() - terrai: SerialDevice: done... nAidDriver : SonardyneDriver.cc was last compiled on Jun 17 2009, 18:23:32 : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : CameraDriver:: Before navigation IF. : SerialDevice: done... : BenthosModem::commandMode() - confirming... : CameraDriver enabling 12V camera power supply : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1495.000000 m/s Beacon = V11,2 MRPL = 2 ms : 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 : Set verbose level : SerialDevice: done... : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Set write delay : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : Set remote response waiting time : CR1 [Parameters set to FACTORY defaults] > : PD5 > : Turn on doppler correction : 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 > : NMEA Update: $GPGGA,171835.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : header is >CS 7 : Dvl record header not found. Resynchronize. : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : 3 Modules found : AshtechGps::processRecord() - ,3648.69998,N,12158.01570,W,1,09,0.9,-1.01,M,-32.92,M,,*7D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,171836.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,171838.00,3648.69998,N,12158.01576,W,1,09,0.9,-1.19,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171837.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,171839.00,3648.69996,N,12158.01575,W,1,09,0.9,-0.96,M,-32.92,M,,*77 : NMEA Update: $GPGGA,171838.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,171840.00,3648.69986,N,12158.01554,W,1,09,0.9,-0.51,M,-32.92,M,,*70 : NMEA Update: $GPGGA,171839.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,171841.00,3648.69977,N,12158.01514,W,1,09,0.9,-0.23,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171840.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,171842.00,3648.69961,N,12158.01471,W,1,09,0.9,-0.31,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171841.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,171843.00,3648.69948,N,12158.01435,W,1,09,0.9,-0.49,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171842.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : Parosci.cc -- Initial pressure = 1.034214 : Parosci.cc -- Parosci initial pressure period = 30.138750 : Parosci.cc -- Parosci initial temp period = 5.841892 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,171844.00,3648.69937,N,12158.01415,W,1,09,0.9,-0.87,M,-32.92,M,,*71 : NMEA Update: $GPGGA,171843.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,171845.00,3648.69944,N,12158.01428,W,1,09,0.9,-1.45,M,-32.92,M,,*75 : NMEA Update: $GPGGA,171844.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,171846.00,3648.69942,N,12158.01447,W,1,09,0.9,-1.43,M,-32.92,M,,*7F : NMEA Update: $GPGGA,171845.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,171847.00,3648.69938,N,12158.01441,W,1,09,0.9,-0.87,M,-32.92,M,,*7C : NMEA Update: $GPGGA,171846.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,171848.00,3648.69933,N,12158.01431,W,1,09,0.9,-0.63,M,-32.92,M,,*75 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,171847.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,171849.00,3648.69928,N,12158.01426,W,1,09,0.9,-0.52,M,-32.92,M,,*7A : NMEA Update: $GPGGA,171848.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,171850.00,3648.69922,N,12158.01396,W,1,09,0.9,-0.04,M,-32.92,M,,*77 : NMEA Update: $GPGGA,171849.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,171851.00,3648.69906,N,12158.01333,W,1,09,0.9,0.29,M,-32.92,M,,*5D : NMEA Update: $GPGGA,171850.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,171852.00,3648.69907,N,12158.01284,W,1,09,0.9,-0.23,M,-32.92,M,,*75 : NMEA Update: $GPGGA,171851.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,171853.00,3648.69903,N,12158.01272,W,1,09,0.9,-0.87,M,-32.92,M,,*77 : NMEA Update: $GPGGA,171852.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,171854.00,3648.69905,N,12158.01279,W,1,09,0.9,-1.21,M,-32.92,M,,*70 : NMEA Update: $GPGGA,171853.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,171855.00,3648.69892,N,12158.01284,W,1,09,0.9,-1.36,M,-32.92,M,,*7A : NMEA Update: $GPGGA,171854.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,171856.00,3648.69890,N,12158.01287,W,1,09,0.9,-1.34,M,-32.92,M,,*7A : NMEA Update: $GPGGA,171855.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,171857.00,3648.69879,N,12158.01292,W,1,09,0.9,-1.15,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171856.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,171858.00,3648.69867,N,12158.01289,W,1,09,0.9,-0.83,M,-32.92,M,,*7F : 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,171857.43,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : **** 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,171859.00,3648.69859,N,12158.01272,W,1,09,0.9,-0.41,M,-32.92,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 2 of 5 needed : NMEA Update: $GPGGA,171858.43,3648.6986,N,-12158.0127,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171900.00,3648.69851,N,12158.01229,W,1,09,0.9,-0.03,M,-32.92,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 3 of 5 needed : NMEA Update: $GPGGA,171859.43,3648.6985,N,-12158.0122,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,171901.00,3648.69844,N,12158.01174,W,1,09,0.9,0.06,M,-32.92,M,,*52 : 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,171900.43,3648.6984,N,-12158.0116,W,1,03,00.5,079.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,171902.00,3648.69835,N,12158.01144,W,1,09,0.9,-0.36,M,-32.92,M,,*7A : 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,171901.43,3648.6983,N,-12158.0113,W,1,03,00.5,079.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171903.00,3648.69836,N,12158.01133,W,1,09,0.9,-0.77,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171902.43,3648.6983,N,-12158.0113,W,1,03,00.5,078.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171904.00,3648.69831,N,12158.01136,W,1,09,0.9,-1.13,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171903.43,3648.6983,N,-12158.0114,W,1,03,00.5,078.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,171905.00,3648.69832,N,12158.01151,W,1,09,0.9,-1.24,M,-32.92,M,,*7C : NMEA Update: $GPGGA,171904.43,3648.6983,N,-12158.0116,W,1,03,00.5,079.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171906.00,3648.69825,N,12158.01166,W,1,09,0.9,-1.00,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171905.43,3648.6982,N,-12158.0117,W,1,03,00.5,077.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171907.00,3648.69820,N,12158.01175,W,1,09,0.9,-0.88,M,-32.92,M,,*7C : NMEA Update: $GPGGA,171906.43,3648.6982,N,-12158.0118,W,1,03,00.5,077.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,171908.00,3648.69819,N,12158.01171,W,1,09,0.9,-0.44,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171907.43,3648.6982,N,-12158.0117,W,1,03,00.5,078.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,171909.00,3648.69807,N,12158.01157,W,1,09,0.9,-0.20,M,-32.92,M,,*75 : NMEA Update: $GPGGA,171908.43,3648.6981,N,-12158.0115,W,1,03,00.5,078.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171910.00,3648.69796,N,12158.01145,W,1,09,0.9,-0.06,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171909.43,3648.6979,N,-12158.0114,W,1,03,00.5,079.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171911.00,3648.69771,N,12158.01136,W,1,09,0.9,-0.13,M,-32.92,M,,*75 : NMEA Update: $GPGGA,171910.43,3648.6977,N,-12158.0113,W,1,03,00.5,079.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,171912.00,3648.69763,N,12158.01153,W,1,09,0.9,-0.87,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171911.43,3648.6976,N,-12158.0115,W,1,03,00.5,078.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171913.00,3648.69758,N,12158.01215,W,1,09,0.9,-1.65,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171912.43,3648.6976,N,-12158.0123,W,1,03,00.5,078.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171914.00,3648.69765,N,12158.01280,W,1,09,0.9,-1.42,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171913.43,3648.6977,N,-12158.0129,W,1,03,00.5,077.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,171915.00,3648.69766,N,12158.01330,W,1,09,0.9,-1.03,M,-32.92,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171914.43,3648.6977,N,-12158.0134,W,1,03,00.5,077.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,171916.00,3648.69761,N,12158.01363,W,1,09,0.9,-0.58,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171915.43,3648.6976,N,-12158.0137,W,1,03,00.5,078.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171917.00,3648.69761,N,12158.01398,W,1,09,0.9,-0.63,M,-32.92,M,,*73 : NMEA Update: $GPGGA,171916.43,3648.6976,N,-12158.0140,W,1,03,00.5,078.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171918.00,3648.69764,N,12158.01448,W,1,09,0.9,-0.51,M,-32.92,M,,*72 : NMEA Update: $GPGGA,171917.43,3648.6977,N,-12158.0146,W,1,03,00.5,078.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,171919.00,3648.69771,N,12158.01505,W,1,09,0.9,-0.53,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171918.43,3648.6977,N,-12158.0151,W,1,03,00.5,078.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171920.00,3648.69783,N,12158.01549,W,1,09,0.9,-0.35,M,-32.92,M,,*72 : NMEA Update: $GPGGA,171919.43,3648.6979,N,-12158.0156,W,1,03,00.5,079.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171921.00,3648.69800,N,12158.01581,W,1,09,0.9,-0.23,M,-32.92,M,,*74 : NMEA Update: $GPGGA,171920.43,3648.6980,N,-12158.0159,W,1,03,00.5,078.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,171922.00,3648.69819,N,12158.01644,W,1,09,0.9,-0.94,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171921.43,3648.6982,N,-12158.0165,W,1,03,00.5,079.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,171923.00,3648.69842,N,12158.01700,W,1,09,0.9,-1.19,M,-32.92,M,,*73 : NMEA Update: $GPGGA,171922.43,3648.6985,N,-12158.0171,W,1,03,00.5,078.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171924.00,3648.69859,N,12158.01745,W,1,09,0.9,-0.84,M,-32.92,M,,*7A : NMEA Update: $GPGGA,171923.43,3648.6986,N,-12158.0175,W,1,03,00.5,078.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171925.00,3648.69888,N,12158.01767,W,1,09,0.9,-0.70,M,-32.92,M,,*7C : NMEA Update: $GPGGA,171924.43,3648.6989,N,-12158.0177,W,1,03,00.5,078.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,171926.00,3648.69917,N,12158.01817,W,1,09,0.9,-1.02,M,-32.92,M,,*74 : NMEA Update: $GPGGA,171925.43,3648.6992,N,-12158.0182,W,1,03,00.5,077.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171927.00,3648.69950,N,12158.01879,W,1,09,0.9,-1.46,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171926.43,3648.6996,N,-12158.0189,W,1,03,00.5,078.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171928.00,3648.69990,N,12158.01947,W,1,09,0.9,-1.34,M,-32.92,M,,*74 : NMEA Update: $GPGGA,171927.43,3648.7000,N,-12158.0196,W,1,03,00.5,078.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,171929.00,3648.70036,N,12158.01986,W,1,09,0.9,-0.58,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171928.43,3648.7005,N,-12158.0199,W,1,03,00.5,077.5,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,171930.00,3648.70081,N,12158.01995,W,1,09,0.9,-0.09,M,-32.92,M,,*7C : NMEA Update: $GPGGA,171929.43,3648.7009,N,-12158.0200,W,1,03,00.5,078.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171931.00,3648.70116,N,12158.02004,W,1,09,0.9,0.02,M,-32.92,M,,*56 : NMEA Update: $GPGGA,171930.43,3648.7012,N,-12158.0200,W,1,03,00.5,078.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.63 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171932.00,3648.70167,N,12158.01984,W,1,09,0.9,-0.30,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171931.43,3648.7018,N,-12158.0198,W,1,03,00.5,079.1,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 : AshtechGps::processRecord() - $GPGGA,171933.00,3648.70222,N,12158.01999,W,1,09,0.9,-0.89,M,-32.92,M,,*70 : NMEA Update: $GPGGA,171932.43,3648.7023,N,-12158.0200,W,1,03,00.5,079.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171934.00,3648.70284,N,12158.02007,W,1,09,0.9,-0.91,M,-32.92,M,,*7F : NMEA Update: $GPGGA,171933.43,3648.7029,N,-12158.0201,W,1,03,00.5,078.2,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171935.00,3648.70350,N,12158.02006,W,1,09,0.9,-0.84,M,-32.92,M,,*73 : NMEA Update: $GPGGA,171934.43,3648.7036,N,-12158.0201,W,1,03,00.5,078.4,M,-99.9,M,,*43 : 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,171936.00,3648.70405,N,12158.02024,W,1,09,0.9,-1.15,M,-32.92,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171935.43,3648.7042,N,-12158.0203,W,1,03,00.5,078.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,171937.00,3648.70462,N,12158.02037,W,1,09,0.9,-1.03,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171936.43,3648.7047,N,-12158.0204,W,1,03,00.5,078.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171938.00,3648.70517,N,12158.02049,W,1,09,0.9,-0.89,M,-32.92,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,171937.43,3648.7053,N,-12158.0205,W,1,03,00.5,078.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171939.00,3648.70570,N,12158.02068,W,1,09,0.9,-0.83,M,-32.92,M,,*74 : NMEA Update: $GPGGA,171938.43,3648.7058,N,-12158.0207,W,1,03,00.5,079.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,171940.00,3648.70624,N,12158.02061,W,1,09,0.9,-0.26,M,-32.92,M,,*7E : NMEA Update: $GPGGA,171939.43,3648.7063,N,-12158.0206,W,1,03,00.5,078.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171941.00,3648.70681,N,12158.02017,W,1,09,0.9,-0.03,M,-32.92,M,,*76 : NMEA Update: $GPGGA,171940.43,3648.7069,N,-12158.0201,W,1,03,00.5,079.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,171942.00,3648.70736,N,12158.02000,W,1,09,0.9,-0.44,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171941.43,3648.7075,N,-12158.0200,W,1,03,00.5,079.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,171943.00,3648.70788,N,12158.02026,W,1,09,0.9,-0.96,M,-32.92,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171942.43,3648.7080,N,-12158.0203,W,1,03,00.5,079.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,171944.00,3648.70848,N,12158.02064,W,1,09,0.9,-1.03,M,-32.92,M,,*7D : NMEA Update: $GPGGA,171943.43,3648.7086,N,-12158.0207,W,1,03,00.5,078.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171945.00,3648.70898,N,12158.02102,W,1,09,0.9,-1.04,M,-32.92,M,,*77 : NMEA Update: $GPGGA,171944.43,3648.7091,N,-12158.0211,W,1,03,00.5,078.0,M,-99.9,M,,*4c : TerrainAidDriver:: _navTime0 = 1245691184.39 : TerrainAidDriver:: _dvlTime0 = 62382.93 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074494.74, 592138.07) : _tercom->outstandingMeas() = 0 : TerrainNav:: vehicle motion has been initialized : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171946.00,3648.70943,N,12158.02136,W,1,09,0.9,-0.64,M,-32.92,M,,*73 : NMEA Update: $GPGGA,171945.43,3648.7095,N,-12158.0215,W,1,03,00.5,078.7,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 0.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 0.00 : 38.00 : Estimated East Bias at time = 0.00 : -35.00 : Estimated Depth Bias at time = 0.00 : -12.20 : Estimated northing and easting = 4074532.74 : 592103.07 : AshtechGps::processRecord() - $GPGGA,171947.00,3648.70995,N,12158.02140,W,1,09,0.9,-0.31,M,-32.92,M,,*78 : NMEA Update: $GPGGA,171946.43,3648.7100,N,-12158.0215,W,1,03,00.5,076.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171948.00,3648.71023,N,12158.02169,W,1,09,0.9,-0.39,M,-32.92,M,,*71 : NMEA Update: $GPGGA,171947.43,3648.7103,N,-12158.0217,W,1,03,00.5,079.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171949.00,3648.71075,N,12158.02201,W,1,09,0.9,-0.70,M,-32.92,M,,*73 : NMEA Update: $GPGGA,171948.43,3648.7108,N,-12158.0221,W,1,03,00.5,079.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,171950.00,3648.71106,N,12158.02259,W,1,09,0.9,-1.12,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171949.43,3648.7111,N,-12158.0227,W,1,03,00.5,078.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,171951.00,3648.71141,N,12158.02321,W,1,09,0.9,-1.30,M,-32.92,M,,*7A : NMEA Update: $GPGGA,171950.43,3648.7115,N,-12158.0233,W,1,03,00.5,078.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171952.00,3648.71182,N,12158.02381,W,1,09,0.9,-1.73,M,-32.92,M,,*7B : NMEA Update: $GPGGA,171951.43,3648.7118,N,-12158.0240,W,1,03,00.5,077.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171953.00,3648.71155,N,12158.02390,W,1,09,0.9,-1.91,M,-32.92,M,,*7C : NMEA Update: $GPGGA,171952.43,3648.7115,N,-12158.0240,W,1,03,00.5,075.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,171954.00,,,,,0,04,4.4,,M,,M,,*6D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,171953.43,3648.7115,N,-12158.0240,W,1,03,00.5,076.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,171954.43,3648.7114,N,-12158.0243,W,1,03,00.5,077.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4074499.05, 592133.13) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,171955.43,3648.7114,N,-12158.0248,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav:: Measurement successfully incorporated from time = 10.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 10.00 : -27.00 : Estimated East Bias at time = 10.00 : 23.00 : Estimated Depth Bias at time = 10.00 : -13.00 : Estimated northing and easting = 4074472.05 : 592156.13 : AshtechGps::processRecord() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,171956.43,3648.7115,N,-12158.0254,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,171958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,171957.43,3648.7116,N,-12158.0262,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,171958.43,3648.7116,N,-12158.0268,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172000.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,171959.43,3648.7115,N,-12158.0272,W,1,03,00.5,077.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172001.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172000.43,3648.7114,N,-12158.0277,W,1,03,00.5,079.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172002.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172001.43,3648.7112,N,-12158.0283,W,1,03,00.5,076.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172003.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172002.43,3648.7107,N,-12158.0287,W,1,03,00.5,076.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172004.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172003.43,3648.7103,N,-12158.0290,W,1,03,00.5,075.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172005.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172004.43,3648.7099,N,-12158.0294,W,1,03,00.5,075.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4074495.91, 592125.65) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,172006.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172005.43,3648.7094,N,-12158.0298,W,1,03,00.5,075.6,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 0.0000 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav:: Measurement successfully incorporated from time = 20.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 20.00 : -12.00 : Estimated East Bias at time = 20.00 : 2.00 : Estimated Depth Bias at time = 20.00 : -13.44 : Estimated northing and easting = 4074483.91 : 592127.65 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172007.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172006.43,3648.7090,N,-12158.0303,W,1,03,00.5,075.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,172008.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172007.43,3648.7085,N,-12158.0307,W,1,03,00.5,074.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172009.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172008.43,3648.7080,N,-12158.0311,W,1,03,00.5,074.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172009.43,3648.7073,N,-12158.0313,W,1,03,00.5,073.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172011.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172010.43,3648.7066,N,-12158.0311,W,1,03,00.5,074.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172012.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172011.43,3648.7059,N,-12158.0309,W,1,03,00.5,073.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172013.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172012.43,3648.7053,N,-12158.0305,W,1,03,00.5,073.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172014.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172013.43,3648.7047,N,-12158.0303,W,1,03,00.5,073.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172015.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172014.43,3648.7041,N,-12158.0300,W,1,03,00.5,072.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074485.23, 592124.98) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,172016.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172015.43,3648.7036,N,-12158.0298,W,1,03,00.5,072.2,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 30.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 30.00 : -11.00 : Estimated East Bias at time = 30.00 : 26.00 : Estimated Depth Bias at time = 30.00 : -11.48 : Estimated northing and easting = 4074474.23 : 592150.98 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172017.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172016.43,3648.7031,N,-12158.0296,W,1,03,00.5,071.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172018.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172017.43,3648.7026,N,-12158.0292,W,1,03,00.5,071.7,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172019.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172018.43,3648.7021,N,-12158.0287,W,1,03,00.5,071.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172020.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172019.43,3648.7016,N,-12158.0280,W,1,03,00.5,071.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172021.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172020.43,3648.7012,N,-12158.0271,W,1,03,00.5,071.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172022.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172021.43,3648.7009,N,-12158.0262,W,1,03,00.5,071.2,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172023.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172022.43,3648.7008,N,-12158.0254,W,1,03,00.5,070.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172024.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172023.43,3648.7007,N,-12158.0246,W,1,03,00.5,069.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172025.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172024.43,3648.7007,N,-12158.0239,W,1,03,00.5,070.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4074479.22, 592134.25) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172026.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172025.43,3648.7008,N,-12158.0233,W,1,03,00.5,068.6,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 40.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 40.00 : 20.00 : Estimated East Bias at time = 40.00 : -38.00 : Estimated Depth Bias at time = 40.00 : -10.78 : Estimated northing and easting = 4074499.22 : 592096.25 : AshtechGps::processRecord() - $GPGGA,172027.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172026.42,3648.7009,N,-12158.0228,W,1,03,00.5,069.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172028.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172027.42,3648.7012,N,-12158.0222,W,1,03,00.5,067.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172029.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172028.42,3648.7015,N,-12158.0216,W,1,03,00.5,068.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172030.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172029.42,3648.7018,N,-12158.0210,W,1,03,00.5,068.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172031.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172030.42,3648.7022,N,-12158.0205,W,1,03,00.5,068.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172032.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172031.42,3648.7026,N,-12158.0201,W,1,03,00.5,068.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,172033.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172032.42,3648.7030,N,-12158.0198,W,1,03,00.5,067.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172034.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172033.42,3648.7034,N,-12158.0197,W,1,03,00.5,067.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172035.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172034.42,3648.7039,N,-12158.0198,W,1,03,00.5,066.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4074485.34, 592140.10) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 0.0000 : AshtechGps::processRecord() - $GPGGA,172036.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172035.42,3648.7044,N,-12158.0199,W,1,03,00.5,066.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 50.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 50.00 : 14.00 : Estimated East Bias at time = 50.00 : -41.00 : Estimated Depth Bias at time = 50.00 : -11.36 : Estimated northing and easting = 4074499.34 : 592099.10 : AshtechGps::processRecord() - $GPGGA,172037.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172036.42,3648.7049,N,-12158.0200,W,1,03,00.5,065.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172038.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172037.42,3648.7054,N,-12158.0201,W,1,03,00.5,065.2,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172039.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172038.42,3648.7059,N,-12158.0202,W,1,03,00.5,065.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172040.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172039.42,3648.7063,N,-12158.0204,W,1,03,00.5,065.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172041.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172040.42,3648.7068,N,-12158.0207,W,1,03,00.5,065.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172042.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172041.42,3648.7072,N,-12158.0211,W,1,03,00.5,064.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172043.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172042.42,3648.7076,N,-12158.0216,W,1,03,00.5,063.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172044.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172043.42,3648.7080,N,-12158.0222,W,1,03,00.5,063.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172045.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172044.42,3648.7083,N,-12158.0229,W,1,03,00.5,061.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074493.36, 592135.25) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,172046.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172045.42,3648.7085,N,-12158.0235,W,1,03,00.5,061.8,M,-99.9,M,,*45 : 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 : -10.00 : Estimated East Bias at time = 60.00 : 28.00 : Estimated Depth Bias at time = 60.00 : -11.10 : Estimated northing and easting = 4074483.36 : 592163.25 : AshtechGps::processRecord() - $GPGGA,172047.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172046.42,3648.7087,N,-12158.0242,W,1,03,00.5,062.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172048.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172047.42,3648.7088,N,-12158.0248,W,1,03,00.5,060.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172049.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172048.42,3648.7088,N,-12158.0255,W,1,03,00.5,059.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172050.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172049.42,3648.7088,N,-12158.0261,W,1,03,00.5,059.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172051.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172050.42,3648.7087,N,-12158.0268,W,1,03,00.5,060.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172052.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172051.42,3648.7085,N,-12158.0275,W,1,03,00.5,060.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172053.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172052.42,3648.7083,N,-12158.0281,W,1,03,00.5,058.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172054.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,172053.42,3648.7081,N,-12158.0287,W,1,03,00.5,059.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172055.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172054.42,3648.7077,N,-12158.0292,W,1,03,00.5,058.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4074491.98, 592125.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172056.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172055.42,3648.7073,N,-12158.0297,W,1,03,00.5,057.3,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 70.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : AshtechGps::processRecord() - $GPGGA,172057.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172056.42,3648.7069,N,-12158.0301,W,1,03,00.5,057.6,M,-99.9,M,,*48 : Estimated North Bias at time = 70.00 : -14.00 : Estimated East Bias at time = 70.00 : 3.00 : Estimated Depth Bias at time = 70.00 : -12.00 : Estimated northing and easting = 4074477.98 : 592128.88 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172058.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172057.42,3648.7064,N,-12158.0304,W,1,03,00.5,056.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172059.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172058.42,3648.7059,N,-12158.0306,W,1,03,00.5,058.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172100.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,172059.42,3648.7054,N,-12158.0308,W,1,03,00.5,055.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172101.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172100.23,3648.7050,N,-12158.0309,W,1,03,00.5,056.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172102.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172101.23,3648.7044,N,-12158.0309,W,1,03,00.5,055.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172103.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172102.23,3648.7038,N,-12158.0309,W,1,03,00.5,056.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,172104.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172103.23,3648.7033,N,-12158.0308,W,1,03,00.5,055.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172105.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172104.23,3648.7028,N,-12158.0306,W,1,03,00.5,054.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4074482.60, 592124.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172106.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172105.23,3648.7023,N,-12158.0303,W,1,03,00.5,055.3,M,-99.9,M,,*43 : 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 : 7.00 : Estimated East Bias at time = 79.99 : 4.00 : Estimated Depth Bias at time = 79.99 : -9.43 : Estimated northing and easting = 4074489.60 : 592128.24 : AshtechGps::processRecord() - $GPGGA,172107.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172106.23,3648.7018,N,-12158.0299,W,1,03,00.5,054.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172108.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172107.23,3648.7014,N,-12158.0295,W,1,03,00.5,052.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172109.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172108.23,3648.7011,N,-12158.0289,W,1,03,00.5,054.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172110.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172109.23,3648.7008,N,-12158.0283,W,1,03,00.5,053.6,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172111.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172110.23,3648.7006,N,-12158.0277,W,1,03,00.5,052.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172112.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172111.23,3648.7005,N,-12158.0271,W,1,03,00.5,052.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172113.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172112.23,3648.7004,N,-12158.0264,W,1,03,00.5,051.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172114.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172113.23,3648.7005,N,-12158.0258,W,1,03,00.5,053.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172115.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172114.23,3648.7006,N,-12158.0252,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074479.05, 592132.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172116.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172115.23,3648.7007,N,-12158.0246,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : 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 : 26.00 : Estimated East Bias at time = 89.99 : -41.00 : Estimated Depth Bias at time = 89.99 : -8.10 : Estimated northing and easting = 4074505.05 : 592091.51 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172117.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172116.23,3648.7009,N,-12158.0240,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,172118.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172117.23,3648.7012,N,-12158.0235,W,1,03,00.5,050.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172119.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172118.23,3648.7015,N,-12158.0230,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172120.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172119.23,3648.7019,N,-12158.0225,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,172121.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172120.23,3648.7023,N,-12158.0221,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172122.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172121.23,3648.7028,N,-12158.0218,W,1,03,00.5,048.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172123.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172122.23,3648.7033,N,-12158.0216,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172124.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172123.23,3648.7038,N,-12158.0215,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,172125.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172124.23,3648.7044,N,-12158.0214,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 100.003150 : TerrainNav update at dvl time = 100.003150 : _navData-> (x,y) = (4074486.47, 592137.69) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,172126.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172125.23,3648.7049,N,-12158.0214,W,1,03,00.5,047.6,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 100.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 100.00 : 26.00 : Estimated East Bias at time = 100.00 : -41.00 : Estimated Depth Bias at time = 100.00 : -7.99 : Estimated northing and easting = 4074512.47 : 592096.69 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172127.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172126.23,3648.7055,N,-12158.0214,W,1,03,00.5,047.8,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172128.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172127.23,3648.7060,N,-12158.0215,W,1,03,00.5,047.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172129.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172128.23,3648.7065,N,-12158.0216,W,1,03,00.5,047.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172130.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172129.23,3648.7070,N,-12158.0218,W,1,03,00.5,047.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172131.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172130.23,3648.7075,N,-12158.0220,W,1,03,00.5,046.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172132.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172131.23,3648.7080,N,-12158.0224,W,1,03,00.5,046.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172133.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172132.23,3648.7084,N,-12158.0229,W,1,03,00.5,045.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172134.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172133.23,3648.7088,N,-12158.0234,W,1,03,00.5,045.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172134.23,3648.7091,N,-12158.0239,W,1,03,00.5,044.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 110.002464 : TerrainNav update at dvl time = 110.002464 : _navData-> (x,y) = (4074494.98, 592133.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172136.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172135.23,3648.7094,N,-12158.0245,W,1,03,00.5,044.5,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 110.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 110.00 : 8.00 : Estimated East Bias at time = 110.00 : 2.00 : Estimated Depth Bias at time = 110.00 : -8.30 : Estimated northing and easting = 4074502.98 : 592135.54 : AshtechGps::processRecord() - $GPGGA,172137.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172136.23,3648.7096,N,-12158.0251,W,1,03,00.5,044.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172138.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172137.23,3648.7097,N,-12158.0257,W,1,03,00.5,043.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172139.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172138.23,3648.7098,N,-12158.0263,W,1,03,00.5,043.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172140.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172139.23,3648.7098,N,-12158.0270,W,1,03,00.5,043.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172141.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172140.23,3648.7098,N,-12158.0276,W,1,03,00.5,042.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172142.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172141.23,3648.7096,N,-12158.0283,W,1,03,00.5,042.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172143.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172142.23,3648.7095,N,-12158.0289,W,1,03,00.5,043.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172144.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172143.23,3648.7092,N,-12158.0295,W,1,03,00.5,041.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172145.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172144.23,3648.7089,N,-12158.0300,W,1,03,00.5,041.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074494.05, 592124.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172146.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172145.23,3648.7085,N,-12158.0305,W,1,03,00.5,042.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 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 : 6.00 : Estimated East Bias at time = 120.00 : 5.00 : Estimated Depth Bias at time = 120.00 : -7.89 : Estimated northing and easting = 4074500.05 : 592129.50 : AshtechGps::processRecord() - $GPGGA,172147.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172146.23,3648.7081,N,-12158.0309,W,1,03,00.5,040.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172148.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172147.23,3648.7076,N,-12158.0313,W,1,03,00.5,041.3,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172149.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172148.23,3648.7071,N,-12158.0315,W,1,03,00.5,040.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172150.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172149.23,3648.7066,N,-12158.0317,W,1,03,00.5,040.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172151.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172150.23,3648.7060,N,-12158.0318,W,1,03,00.5,039.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172152.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172151.23,3648.7054,N,-12158.0319,W,1,03,00.5,039.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172153.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172152.23,3648.7049,N,-12158.0318,W,1,03,00.5,039.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172154.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172153.23,3648.7043,N,-12158.0317,W,1,03,00.5,039.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172155.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172154.23,3648.7037,N,-12158.0314,W,1,03,00.5,038.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4074484.31, 592123.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172156.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172155.23,3648.7032,N,-12158.0311,W,1,03,00.5,037.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 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 : Estimated North Bias at time = 130.00 : -10.00 : Estimated East Bias at time = 130.00 : 45.00 : Estimated Depth Bias at time = 130.00 : -7.44 : Estimated northing and easting = 4074474.31 : 592168.02 : AshtechGps::processRecord() - $GPGGA,172157.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172156.23,3648.7027,N,-12158.0307,W,1,03,00.5,037.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172158.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172157.23,3648.7023,N,-12158.0302,W,1,03,00.5,037.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172159.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172158.23,3648.7019,N,-12158.0296,W,1,03,00.5,036.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172200.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172159.23,3648.7017,N,-12158.0290,W,1,03,00.5,036.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172201.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172200.23,3648.7014,N,-12158.0284,W,1,03,00.5,036.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172202.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172201.23,3648.7013,N,-12158.0277,W,1,03,00.5,036.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,172203.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172202.23,3648.7012,N,-12158.0270,W,1,03,00.5,035.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172204.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172203.23,3648.7013,N,-12158.0263,W,1,03,00.5,035.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172205.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172204.23,3648.7013,N,-12158.0256,W,1,03,00.5,035.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4074480.52, 592131.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172206.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172205.23,3648.7015,N,-12158.0250,W,1,03,00.5,035.4,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 140.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 140.00 : -8.00 : Estimated East Bias at time = 140.00 : 44.00 : Estimated Depth Bias at time = 140.00 : -7.04 : Estimated northing and easting = 4074472.52 : 592175.88 : AshtechGps::processRecord() - $GPGGA,172207.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172206.23,3648.7018,N,-12158.0244,W,1,03,00.5,034.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172208.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172207.23,3648.7021,N,-12158.0238,W,1,03,00.5,034.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172209.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172208.23,3648.7024,N,-12158.0233,W,1,03,00.5,034.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172210.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172209.23,3648.7028,N,-12158.0228,W,1,03,00.5,033.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172211.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172210.23,3648.7033,N,-12158.0224,W,1,03,00.5,033.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172212.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172211.23,3648.7038,N,-12158.0221,W,1,03,00.5,032.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172213.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172212.23,3648.7043,N,-12158.0218,W,1,03,00.5,032.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172214.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172213.23,3648.7048,N,-12158.0216,W,1,03,00.5,032.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172215.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172214.23,3648.7054,N,-12158.0214,W,1,03,00.5,031.8,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074488.28, 592137.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172216.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172215.23,3648.7059,N,-12158.0214,W,1,03,00.5,031.4,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 : Estimated North Bias at time = 150.00 : 29.00 : Estimated East Bias at time = 150.00 : -15.00 : Estimated Depth Bias at time = 150.00 : -5.21 : Estimated northing and easting = 4074517.28 : 592122.71 : AshtechGps::processRecord() - $GPGGA,172217.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172216.23,3648.7065,N,-12158.0214,W,1,03,00.5,031.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172218.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172217.23,3648.7070,N,-12158.0215,W,1,03,00.5,030.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172219.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172218.23,3648.7075,N,-12158.0217,W,1,03,00.5,030.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172220.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172219.23,3648.7080,N,-12158.0219,W,1,03,00.5,029.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172221.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172220.23,3648.7085,N,-12158.0222,W,1,03,00.5,030.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172222.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172221.23,3648.7089,N,-12158.0225,W,1,03,00.5,029.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172223.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172222.23,3648.7093,N,-12158.0230,W,1,03,00.5,029.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,172224.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172223.23,3648.7097,N,-12158.0235,W,1,03,00.5,028.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172225.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172224.23,3648.7100,N,-12158.0240,W,1,03,00.5,027.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4074496.53, 592133.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172226.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172225.23,3648.7102,N,-12158.0246,W,1,03,00.5,027.5,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 160.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 160.00 : 29.00 : Estimated East Bias at time = 160.00 : -14.00 : Estimated Depth Bias at time = 160.00 : -5.14 : Estimated northing and easting = 4074525.53 : 592119.42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172227.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172226.23,3648.7103,N,-12158.0252,W,1,03,00.5,027.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172228.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172227.23,3648.7104,N,-12158.0258,W,1,03,00.5,027.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172229.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172228.23,3648.7104,N,-12158.0264,W,1,03,00.5,026.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172230.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172229.23,3648.7104,N,-12158.0271,W,1,03,00.5,026.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172231.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172230.23,3648.7103,N,-12158.0277,W,1,03,00.5,026.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172232.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172231.23,3648.7101,N,-12158.0283,W,1,03,00.5,025.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172233.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172232.23,3648.7098,N,-12158.0289,W,1,03,00.5,025.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172234.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172233.23,3648.7094,N,-12158.0294,W,1,03,00.5,025.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172235.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172234.23,3648.7091,N,-12158.0299,W,1,03,00.5,024.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4074494.26, 592124.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172236.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172235.23,3648.7086,N,-12158.0303,W,1,03,00.5,023.8,M,-99.9,M,,*46 : 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 : 29.00 : Estimated East Bias at time = 170.00 : -13.00 : Estimated Depth Bias at time = 170.00 : -5.07 : Estimated northing and easting = 4074523.26 : 592111.73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172237.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172236.23,3648.7081,N,-12158.0307,W,1,03,00.5,024.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172238.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172237.23,3648.7076,N,-12158.0309,W,1,03,00.5,023.4,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172239.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172238.23,3648.7074,N,-12158.0310,W,1,03,00.5,023.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172240.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172239.23,3648.7068,N,-12158.0311,W,1,03,00.5,022.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172241.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172240.23,3648.7062,N,-12158.0312,W,1,03,00.5,022.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172242.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172241.23,3648.7056,N,-12158.0311,W,1,03,00.5,022.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172243.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172242.23,3648.7050,N,-12158.0309,W,1,03,00.5,022.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172244.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172243.23,3648.7045,N,-12158.0306,W,1,03,00.5,021.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172245.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172244.23,3648.7039,N,-12158.0303,W,1,03,00.5,021.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074484.68, 592124.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172246.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172245.23,3648.7034,N,-12158.0299,W,1,03,00.5,020.9,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 180.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 180.00 : -6.00 : Estimated East Bias at time = 180.00 : 33.00 : Estimated Depth Bias at time = 180.00 : -5.12 : Estimated northing and easting = 4074478.68 : 592157.73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172247.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172246.23,3648.7029,N,-12158.0294,W,1,03,00.5,020.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172248.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172247.23,3648.7025,N,-12158.0288,W,1,03,00.5,020.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172249.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172248.23,3648.7022,N,-12158.0282,W,1,03,00.5,020.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172250.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172249.23,3648.7019,N,-12158.0275,W,1,03,00.5,019.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172251.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172250.23,3648.7017,N,-12158.0267,W,1,03,00.5,019.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172252.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172251.23,3648.7016,N,-12158.0260,W,1,03,00.5,019.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl::execute() -- (t = 233.993970) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 233.99 (wplog) The current location (N,E) = 4074480.8 , 592131.4 (wplog) The next waypoint = 4074562.9 , 591862.1 (wplog) The bearing to the next w.p. is 286.9 Degrees. : LayeredControl::execute() -- (t = 233.993970) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,172253.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172252.22,3648.7016,N,-12158.0252,W,1,03,00.5,018.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172254.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172253.22,3648.7016,N,-12158.0245,W,1,03,00.5,018.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172255.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172254.22,3648.7017,N,-12158.0238,W,1,03,00.5,018.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4074481.09, 592134.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172256.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172255.22,3648.7018,N,-12158.0230,W,1,03,00.5,018.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 190.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 190.00 : -6.00 : Estimated East Bias at time = 190.00 : 33.00 : Estimated Depth Bias at time = 190.00 : -4.49 : Estimated northing and easting = 4074475.09 : 592167.71 : AshtechGps::processRecord() - $GPGGA,172257.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172256.22,3648.7020,N,-12158.0223,W,1,03,00.5,017.6,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172258.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172257.22,3648.7023,N,-12158.0216,W,1,03,00.5,017.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172259.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172258.22,3648.7026,N,-12158.0209,W,1,03,00.5,016.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172300.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172259.22,3648.7029,N,-12158.0203,W,1,03,00.5,016.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172301.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172300.22,3648.7034,N,-12158.0198,W,1,03,00.5,016.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172302.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172301.22,3648.7038,N,-12158.0193,W,1,03,00.5,017.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172303.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172302.22,3648.7043,N,-12158.0189,W,1,03,00.5,017.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172304.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172303.22,3648.7048,N,-12158.0186,W,1,03,00.5,017.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172305.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172304.22,3648.7053,N,-12158.0184,W,1,03,00.5,017.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 199.996300 : TerrainNav update at dvl time = 199.996300 : _navData-> (x,y) = (4074488.11, 592142.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172306.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172305.22,3648.7057,N,-12158.0183,W,1,03,00.5,017.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 200.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 200.00 : -6.00 : Estimated East Bias at time = 200.00 : 33.00 : Estimated Depth Bias at time = 200.00 : -4.49 : Estimated northing and easting = 4074482.11 : 592175.18 : AshtechGps::processRecord() - $GPGGA,172307.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172306.22,3648.7062,N,-12158.0183,W,1,03,00.5,016.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172308.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172307.22,3648.7067,N,-12158.0184,W,1,03,00.5,016.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172309.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172308.22,3648.7071,N,-12158.0185,W,1,03,00.5,016.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,172310.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172309.22,3648.7075,N,-12158.0187,W,1,03,00.5,016.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172311.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172310.22,3648.7078,N,-12158.0189,W,1,03,00.5,016.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172312.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172311.22,3648.7082,N,-12158.0192,W,1,03,00.5,016.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172313.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172312.22,3648.7084,N,-12158.0196,W,1,03,00.5,015.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172314.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172313.22,3648.7087,N,-12158.0200,W,1,03,00.5,015.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172315.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172314.22,3648.7088,N,-12158.0205,W,1,03,00.5,015.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 209.995615 : TerrainNav update at dvl time = 209.995615 : _navData-> (x,y) = (4074494.43, 592138.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172316.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172315.22,3648.7090,N,-12158.0210,W,1,03,00.5,015.3,M,-99.9,M,,*4e : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 210.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 210.00 : -6.00 : Estimated East Bias at time = 210.00 : 34.00 : Estimated Depth Bias at time = 210.00 : -4.50 : Estimated northing and easting = 4074488.43 : 592172.70 : AshtechGps::processRecord() - $GPGGA,172317.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172316.22,3648.7090,N,-12158.0215,W,1,03,00.5,015.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172318.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172317.22,3648.7090,N,-12158.0220,W,1,03,00.5,014.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172319.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172318.22,3648.7089,N,-12158.0225,W,1,03,00.5,014.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172320.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172319.22,3648.7087,N,-12158.0231,W,1,03,00.5,014.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172321.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172320.22,3648.7085,N,-12158.0236,W,1,03,00.5,013.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172322.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172321.22,3648.7083,N,-12158.0241,W,1,03,00.5,013.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172323.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172322.22,3648.7080,N,-12158.0247,W,1,03,00.5,013.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172324.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172323.22,3648.7077,N,-12158.0252,W,1,03,00.5,013.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172325.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172324.22,3648.7074,N,-12158.0258,W,1,03,00.5,013.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4074491.34, 592130.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172326.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172325.22,3648.7071,N,-12158.0264,W,1,03,00.5,012.9,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 219.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 219.99 : -5.00 : Estimated East Bias at time = 219.99 : 34.00 : Estimated Depth Bias at time = 219.99 : -4.55 : Estimated northing and easting = 4074486.34 : 592164.78 : AshtechGps::processRecord() - $GPGGA,172327.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172326.23,3648.7068,N,-12158.0270,W,1,03,00.5,012.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172328.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172327.23,3648.7064,N,-12158.0277,W,1,03,00.5,012.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172329.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172328.23,3648.7062,N,-12158.0284,W,1,03,00.5,011.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172330.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172329.23,3648.7059,N,-12158.0291,W,1,03,00.5,011.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172331.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172330.23,3648.7056,N,-12158.0299,W,1,03,00.5,011.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172332.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172331.23,3648.7054,N,-12158.0307,W,1,03,00.5,011.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172333.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172332.23,3648.7051,N,-12158.0315,W,1,03,00.5,010.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172334.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172333.23,3648.7049,N,-12158.0323,W,1,03,00.5,010.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172335.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172334.23,3648.7047,N,-12158.0332,W,1,03,00.5,010.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4074486.33, 592119.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172336.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172335.23,3648.7045,N,-12158.0340,W,1,03,00.5,010.2,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 229.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 229.99 : -7.00 : Estimated East Bias at time = 229.99 : 32.00 : Estimated Depth Bias at time = 229.99 : -3.52 : Estimated northing and easting = 4074479.33 : 592151.71 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172337.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172336.23,3648.7043,N,-12158.0349,W,1,03,00.5,010.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172338.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172337.23,3648.7042,N,-12158.0358,W,1,03,00.5,010.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172339.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172338.23,3648.7041,N,-12158.0367,W,1,03,00.5,009.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172340.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172339.23,3648.7040,N,-12158.0377,W,1,03,00.5,009.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172341.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172340.23,3648.7039,N,-12158.0386,W,1,03,00.5,009.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172342.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172341.23,3648.7038,N,-12158.0395,W,1,03,00.5,009.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172343.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172342.23,3648.7038,N,-12158.0405,W,1,03,00.5,009.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172344.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172343.23,3648.7038,N,-12158.0414,W,1,03,00.5,009.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,172345.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172344.23,3648.7039,N,-12158.0423,W,1,03,00.5,009.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074484.81, 592106.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172346.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172345.23,3648.7039,N,-12158.0432,W,1,03,00.5,009.4,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 239.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : Estimated North Bias at time = 239.99 : -6.00 : Estimated East Bias at time = 239.99 : 47.00 : Estimated Depth Bias at time = 239.99 : -3.14 : Estimated northing and easting = 4074478.81 : 592153.09 : AshtechGps::processRecord() - $GPGGA,172347.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172346.23,3648.7040,N,-12158.0442,W,1,03,00.5,009.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172348.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172347.23,3648.7041,N,-12158.0451,W,1,03,00.5,009.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172349.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172348.23,3648.7042,N,-12158.0460,W,1,03,00.5,009.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172350.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172349.23,3648.7044,N,-12158.0469,W,1,03,00.5,009.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172351.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172350.23,3648.7045,N,-12158.0478,W,1,03,00.5,009.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172352.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172351.23,3648.7047,N,-12158.0487,W,1,03,00.5,009.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172353.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172352.23,3648.7049,N,-12158.0496,W,1,03,00.5,009.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172354.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172353.23,3648.7052,N,-12158.0505,W,1,03,00.5,009.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,172355.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172354.23,3648.7054,N,-12158.0514,W,1,03,00.5,009.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4074487.68, 592092.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172356.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172355.23,3648.7057,N,-12158.0523,W,1,03,00.5,009.4,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 250.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.04 : Estimated North Bias at time = 250.00 : -4.00 : Estimated East Bias at time = 250.00 : 10.00 : Estimated Depth Bias at time = 250.00 : -3.35 : Estimated northing and easting = 4074483.68 : 592102.58 : AshtechGps::processRecord() - $GPGGA,172357.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172356.23,3648.7060,N,-12158.0531,W,1,03,00.5,009.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172358.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172357.23,3648.7062,N,-12158.0540,W,1,03,00.5,009.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172359.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172358.23,3648.7065,N,-12158.0548,W,1,03,00.5,009.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172400.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172359.23,3648.7068,N,-12158.0557,W,1,03,00.5,009.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172401.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172400.23,3648.7072,N,-12158.0565,W,1,03,00.5,009.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172402.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172401.23,3648.7075,N,-12158.0574,W,1,03,00.5,009.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172403.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172402.23,3648.7078,N,-12158.0582,W,1,03,00.5,009.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172404.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172403.23,3648.7082,N,-12158.0591,W,1,03,00.5,009.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172405.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172404.23,3648.7085,N,-12158.0599,W,1,03,00.5,009.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4074493.31, 592079.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172406.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172405.23,3648.7088,N,-12158.0608,W,1,03,00.5,009.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 260.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.07 : Estimated North Bias at time = 260.00 : -4.00 : Estimated East Bias at time = 260.00 : 10.00 : Estimated Depth Bias at time = 260.00 : -3.10 : Estimated northing and easting = 4074489.31 : 592089.83 : AshtechGps::processRecord() - $GPGGA,172407.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172406.23,3648.7092,N,-12158.0616,W,1,03,00.5,009.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172408.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172407.23,3648.7095,N,-12158.0625,W,1,03,00.5,009.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172409.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172408.23,3648.7098,N,-12158.0633,W,1,03,00.5,009.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172410.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172409.23,3648.7102,N,-12158.0641,W,1,03,00.5,009.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172411.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172410.23,3648.7105,N,-12158.0650,W,1,03,00.5,009.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172412.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172411.23,3648.7108,N,-12158.0658,W,1,03,00.5,009.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,172413.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172412.23,3648.7112,N,-12158.0667,W,1,03,00.5,009.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172414.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172413.23,3648.7116,N,-12158.0675,W,1,03,00.5,009.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172415.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172414.23,3648.7119,N,-12158.0684,W,1,03,00.5,009.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074499.44, 592067.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172416.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172415.23,3648.7122,N,-12158.0693,W,1,03,00.5,009.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 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: 0.04 : Estimated North Bias at time = 270.00 : -4.00 : Estimated East Bias at time = 270.00 : 10.00 : Estimated Depth Bias at time = 270.00 : -2.74 : Estimated northing and easting = 4074495.44 : 592077.17 : AshtechGps::processRecord() - $GPGGA,172417.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172416.23,3648.7125,N,-12158.0701,W,1,03,00.5,009.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172418.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172417.23,3648.7129,N,-12158.0710,W,1,03,00.5,009.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172419.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172418.23,3648.7132,N,-12158.0719,W,1,03,00.5,009.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172420.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172419.23,3648.7135,N,-12158.0728,W,1,03,00.5,009.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172421.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172420.23,3648.7138,N,-12158.0736,W,1,03,00.5,009.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172422.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172421.23,3648.7141,N,-12158.0745,W,1,03,00.5,009.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172423.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172422.23,3648.7143,N,-12158.0754,W,1,03,00.5,009.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172424.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172423.23,3648.7146,N,-12158.0763,W,1,03,00.5,009.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172425.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172424.23,3648.7149,N,-12158.0772,W,1,03,00.5,009.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 280.000819 : TerrainNav update at dvl time = 280.000819 : _navData-> (x,y) = (4074504.81, 592054.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172426.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172425.23,3648.7152,N,-12158.0781,W,1,03,00.5,009.8,M,-99.9,M,,*4f : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 280.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 280.00 : -4.00 : Estimated East Bias at time = 280.00 : 10.00 : Estimated Depth Bias at time = 280.00 : -2.58 : Estimated northing and easting = 4074500.81 : 592064.06 : AshtechGps::processRecord() - $GPGGA,172427.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172426.23,3648.7154,N,-12158.0789,W,1,03,00.5,009.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172428.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172427.23,3648.7157,N,-12158.0798,W,1,03,00.5,009.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172429.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172428.23,3648.7159,N,-12158.0807,W,1,03,00.5,010.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172430.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172429.23,3648.7162,N,-12158.0816,W,1,03,00.5,010.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172431.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172430.23,3648.7164,N,-12158.0826,W,1,03,00.5,010.2,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172432.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172431.23,3648.7167,N,-12158.0835,W,1,03,00.5,010.0,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172433.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172432.23,3648.7169,N,-12158.0844,W,1,03,00.5,010.2,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172434.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172433.23,3648.7171,N,-12158.0853,W,1,03,00.5,010.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172435.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172434.23,3648.7174,N,-12158.0862,W,1,03,00.5,010.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4074509.23, 592040.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172436.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172435.23,3648.7176,N,-12158.0871,W,1,03,00.5,010.2,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 290.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 290.00 : 18.00 : Estimated East Bias at time = 290.00 : -44.00 : Estimated Depth Bias at time = 290.00 : -2.05 : Estimated northing and easting = 4074527.23 : 591996.54 : AshtechGps::processRecord() - $GPGGA,172437.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172436.23,3648.7178,N,-12158.0880,W,1,03,00.5,010.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172438.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172437.23,3648.7181,N,-12158.0890,W,1,03,00.5,010.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172439.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172438.23,3648.7183,N,-12158.0899,W,1,03,00.5,010.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172440.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172439.23,3648.7185,N,-12158.0908,W,1,03,00.5,010.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172441.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172440.23,3648.7188,N,-12158.0917,W,1,03,00.5,010.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172442.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172441.23,3648.7190,N,-12158.0926,W,1,03,00.5,010.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172443.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172442.23,3648.7192,N,-12158.0935,W,1,03,00.5,010.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172444.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172443.23,3648.7195,N,-12158.0944,W,1,03,00.5,010.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172445.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172444.23,3648.7197,N,-12158.0954,W,1,03,00.5,010.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074513.33, 592026.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172446.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172445.23,3648.7199,N,-12158.0963,W,1,03,00.5,010.3,M,-99.9,M,,*4f : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 300.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 300.00 : -4.00 : Estimated East Bias at time = 300.00 : 10.00 : Estimated Depth Bias at time = 300.00 : -2.32 : Estimated northing and easting = 4074509.33 : 592036.93 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172447.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172446.23,3648.7201,N,-12158.0972,W,1,03,00.5,010.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172448.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172447.23,3648.7203,N,-12158.0981,W,1,03,00.5,010.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172449.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172448.23,3648.7206,N,-12158.0990,W,1,03,00.5,010.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172450.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172449.23,3648.7208,N,-12158.0999,W,1,03,00.5,010.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172451.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172450.23,3648.7210,N,-12158.1008,W,1,03,00.5,010.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172452.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172451.23,3648.7212,N,-12158.1018,W,1,03,00.5,010.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172453.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172452.23,3648.7214,N,-12158.1027,W,1,03,00.5,010.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172454.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172453.23,3648.7216,N,-12158.1036,W,1,03,00.5,010.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172455.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172454.23,3648.7218,N,-12158.1046,W,1,03,00.5,010.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4074517.11, 592013.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172456.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172455.23,3648.7220,N,-12158.1055,W,1,03,00.5,010.3,M,-99.9,M,,*42 : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 310.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 310.00 : -4.00 : Estimated East Bias at time = 310.00 : 9.00 : Estimated Depth Bias at time = 310.00 : -2.21 : Estimated northing and easting = 4074513.11 : 592022.16 : AshtechGps::processRecord() - $GPGGA,172457.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172456.23,3648.7222,N,-12158.1064,W,1,03,00.5,010.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172458.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172457.23,3648.7224,N,-12158.1073,W,1,03,00.5,010.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172459.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172458.23,3648.7226,N,-12158.1083,W,1,03,00.5,010.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172500.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172459.23,3648.7229,N,-12158.1092,W,1,03,00.5,010.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172501.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172500.23,3648.7231,N,-12158.1101,W,1,03,00.5,010.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172502.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172501.23,3648.7233,N,-12158.1111,W,1,03,00.5,010.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172503.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172502.23,3648.7235,N,-12158.1120,W,1,03,00.5,010.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172504.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172503.23,3648.7238,N,-12158.1129,W,1,03,00.5,010.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172505.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172504.23,3648.7240,N,-12158.1138,W,1,03,00.5,010.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4074520.98, 591999.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172506.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172505.23,3648.7242,N,-12158.1148,W,1,03,00.5,010.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 320.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 320.00 : -4.00 : Estimated East Bias at time = 320.00 : 9.00 : Estimated Depth Bias at time = 320.00 : -2.11 : Estimated northing and easting = 4074516.98 : 592008.36 : AshtechGps::processRecord() - $GPGGA,172507.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172506.23,3648.7244,N,-12158.1157,W,1,03,00.5,010.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172508.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172507.23,3648.7247,N,-12158.1166,W,1,03,00.5,010.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172509.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172508.23,3648.7249,N,-12158.1175,W,1,03,00.5,010.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172510.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172509.23,3648.7251,N,-12158.1184,W,1,03,00.5,010.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172511.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172510.23,3648.7253,N,-12158.1193,W,1,03,00.5,010.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172512.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172511.23,3648.7256,N,-12158.1202,W,1,03,00.5,010.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172513.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172512.23,3648.7258,N,-12158.1212,W,1,03,00.5,010.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172514.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172513.23,3648.7260,N,-12158.1221,W,1,03,00.5,010.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172515.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172514.23,3648.7262,N,-12158.1230,W,1,03,00.5,010.0,M,-99.9,M,,*42 : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074524.99, 591985.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172516.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172515.23,3648.7265,N,-12158.1239,W,1,03,00.5,010.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 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: 0.01 : Estimated North Bias at time = 330.00 : -4.00 : Estimated East Bias at time = 330.00 : 9.00 : Estimated Depth Bias at time = 330.00 : -2.04 : Estimated northing and easting = 4074520.99 : 591994.72 : AshtechGps::processRecord() - $GPGGA,172517.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172516.23,3648.7267,N,-12158.1248,W,1,03,00.5,010.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172518.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172517.23,3648.7269,N,-12158.1257,W,1,03,00.5,010.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172519.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172518.22,3648.7272,N,-12158.1266,W,1,03,00.5,010.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172520.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172519.22,3648.7274,N,-12158.1275,W,1,03,00.5,010.2,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172521.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172520.22,3648.7277,N,-12158.1285,W,1,03,00.5,010.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172522.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172521.22,3648.7279,N,-12158.1294,W,1,03,00.5,010.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172523.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172522.22,3648.7281,N,-12158.1303,W,1,03,00.5,010.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172524.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172523.22,3648.7283,N,-12158.1312,W,1,03,00.5,010.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172525.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172524.22,3648.7286,N,-12158.1321,W,1,03,00.5,010.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4074529.20, 591972.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172526.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172525.22,3648.7288,N,-12158.1331,W,1,03,00.5,010.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 340.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 340.00 : 16.00 : Estimated East Bias at time = 340.00 : -43.00 : Estimated Depth Bias at time = 340.00 : -1.76 : Estimated northing and easting = 4074545.20 : 591929.06 : AshtechGps::processRecord() - $GPGGA,172527.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172526.22,3648.7290,N,-12158.1340,W,1,03,00.5,010.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172528.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172527.22,3648.7293,N,-12158.1349,W,1,03,00.5,010.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172529.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172528.22,3648.7295,N,-12158.1358,W,1,03,00.5,010.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172530.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172529.22,3648.7298,N,-12158.1367,W,1,03,00.5,010.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172531.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172530.22,3648.7300,N,-12158.1376,W,1,03,00.5,010.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172532.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172531.22,3648.7302,N,-12158.1385,W,1,03,00.5,010.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172533.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172532.22,3648.7304,N,-12158.1394,W,1,03,00.5,010.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172534.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172533.22,3648.7307,N,-12158.1404,W,1,03,00.5,010.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172535.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172534.22,3648.7309,N,-12158.1413,W,1,03,00.5,010.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4074533.36, 591958.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172536.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172535.22,3648.7311,N,-12158.1422,W,1,03,00.5,010.0,M,-99.9,M,,*40 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 350.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 350.00 : 16.00 : Estimated East Bias at time = 350.00 : -43.00 : Estimated Depth Bias at time = 350.00 : -1.74 : Estimated northing and easting = 4074549.36 : 591915.42 : AshtechGps::processRecord() - $GPGGA,172537.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172536.22,3648.7314,N,-12158.1431,W,1,03,00.5,010.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172538.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172537.22,3648.7316,N,-12158.1440,W,1,03,00.5,010.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172539.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172538.22,3648.7318,N,-12158.1449,W,1,03,00.5,010.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172540.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172539.22,3648.7321,N,-12158.1459,W,1,03,00.5,010.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172541.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172540.22,3648.7323,N,-12158.1468,W,1,03,00.5,010.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172542.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172541.22,3648.7326,N,-12158.1477,W,1,03,00.5,010.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172543.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172542.22,3648.7328,N,-12158.1486,W,1,03,00.5,010.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172544.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172543.22,3648.7330,N,-12158.1495,W,1,03,00.5,010.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172545.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172544.22,3648.7333,N,-12158.1504,W,1,03,00.5,010.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074537.61, 591944.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172546.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172545.22,3648.7335,N,-12158.1513,W,1,03,00.5,010.0,M,-99.9,M,,*42 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 360.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 360.00 : 16.00 : Estimated East Bias at time = 360.00 : -42.00 : Estimated Depth Bias at time = 360.00 : -1.70 : Estimated northing and easting = 4074553.61 : 591902.83 : AshtechGps::processRecord() - $GPGGA,172547.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172546.22,3648.7338,N,-12158.1522,W,1,03,00.5,010.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172548.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172547.22,3648.7340,N,-12158.1532,W,1,03,00.5,010.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172549.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172548.22,3648.7343,N,-12158.1540,W,1,03,00.5,010.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172550.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172549.22,3648.7345,N,-12158.1549,W,1,03,00.5,010.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172551.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172550.22,3648.7347,N,-12158.1559,W,1,03,00.5,010.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172552.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172551.22,3648.7350,N,-12158.1568,W,1,03,00.5,010.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172553.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172552.23,3648.7352,N,-12158.1577,W,1,03,00.5,010.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172554.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172553.23,3648.7354,N,-12158.1586,W,1,03,00.5,010.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172555.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172554.23,3648.7357,N,-12158.1595,W,1,03,00.5,010.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4074541.84, 591931.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172556.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172555.23,3648.7359,N,-12158.1604,W,1,03,00.5,010.2,M,-99.9,M,,*4f : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 369.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 369.99 : 16.00 : Estimated East Bias at time = 369.99 : -42.00 : Estimated Depth Bias at time = 369.99 : -1.69 : Estimated northing and easting = 4074557.84 : 591889.24 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172557.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172556.23,3648.7361,N,-12158.1613,W,1,03,00.5,010.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172558.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172557.23,3648.7364,N,-12158.1622,W,1,03,00.5,010.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172559.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172558.23,3648.7366,N,-12158.1631,W,1,03,00.5,010.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172600.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172559.23,3648.7368,N,-12158.1640,W,1,03,00.5,010.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172601.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172600.23,3648.7371,N,-12158.1649,W,1,03,00.5,010.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172602.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172601.23,3648.7373,N,-12158.1658,W,1,03,00.5,010.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172603.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172602.23,3648.7376,N,-12158.1668,W,1,03,00.5,010.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172604.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172603.23,3648.7378,N,-12158.1677,W,1,03,00.5,010.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,172605.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172604.23,3648.7380,N,-12158.1686,W,1,03,00.5,010.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 379.993969 : TerrainNav update at dvl time = 379.993969 : _navData-> (x,y) = (4074546.10, 591917.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172606.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172605.23,3648.7383,N,-12158.1696,W,1,03,00.5,010.0,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 379.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 379.99 : 17.00 : Estimated East Bias at time = 379.99 : -43.00 : Estimated Depth Bias at time = 379.99 : -1.67 : Estimated northing and easting = 4074563.10 : 591874.61 : AshtechGps::processRecord() - $GPGGA,172607.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172606.23,3648.7385,N,-12158.1705,W,1,03,00.5,010.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172608.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172607.23,3648.7387,N,-12158.1714,W,1,03,00.5,010.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172609.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172608.23,3648.7389,N,-12158.1723,W,1,03,00.5,010.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172610.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172609.23,3648.7392,N,-12158.1733,W,1,03,00.5,010.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172611.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172610.23,3648.7394,N,-12158.1742,W,1,03,00.5,010.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,172612.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172611.23,3648.7396,N,-12158.1751,W,1,03,00.5,010.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172613.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172612.23,3648.7399,N,-12158.1760,W,1,03,00.5,010.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172614.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172613.23,3648.7401,N,-12158.1769,W,1,03,00.5,010.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172615.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172614.23,3648.7403,N,-12158.1778,W,1,03,00.5,010.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074550.23, 591903.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172616.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172615.23,3648.7406,N,-12158.1788,W,1,03,00.5,010.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 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: 0.01 : Estimated North Bias at time = 389.99 : 17.00 : Estimated East Bias at time = 389.99 : -43.00 : Estimated Depth Bias at time = 389.99 : -1.65 : Estimated northing and easting = 4074567.23 : 591860.88 : AshtechGps::processRecord() - $GPGGA,172617.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172616.23,3648.7408,N,-12158.1797,W,1,03,00.5,010.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172618.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172617.23,3648.7411,N,-12158.1806,W,1,03,00.5,010.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172619.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172618.23,3648.7413,N,-12158.1815,W,1,03,00.5,010.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172620.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172619.23,3648.7416,N,-12158.1824,W,1,03,00.5,009.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172621.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172620.23,3648.7418,N,-12158.1833,W,1,03,00.5,009.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172622.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172621.23,3648.7420,N,-12158.1843,W,1,03,00.5,009.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172623.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172622.23,3648.7422,N,-12158.1852,W,1,03,00.5,009.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172624.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172623.23,3648.7425,N,-12158.1861,W,1,03,00.5,009.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172625.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172624.23,3648.7427,N,-12158.1870,W,1,03,00.5,009.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4074554.46, 591890.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172626.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172625.23,3648.7430,N,-12158.1879,W,1,03,00.5,009.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 400.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 400.00 : 17.00 : Estimated East Bias at time = 400.00 : -43.00 : Estimated Depth Bias at time = 400.00 : -1.66 : Estimated northing and easting = 4074571.46 : 591847.22 : AshtechGps::processRecord() - $GPGGA,172627.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172626.23,3648.7432,N,-12158.1888,W,1,03,00.5,009.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172628.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172627.23,3648.7434,N,-12158.1898,W,1,03,00.5,009.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,172629.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172628.23,3648.7437,N,-12158.1907,W,1,03,00.5,009.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172630.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172629.23,3648.7439,N,-12158.1916,W,1,03,00.5,009.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172631.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172630.23,3648.7441,N,-12158.1925,W,1,03,00.5,009.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172632.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172631.23,3648.7444,N,-12158.1934,W,1,03,00.5,010.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,172633.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172632.23,3648.7446,N,-12158.1943,W,1,03,00.5,010.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172634.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172633.23,3648.7448,N,-12158.1953,W,1,03,00.5,010.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172635.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172634.23,3648.7450,N,-12158.1962,W,1,03,00.5,010.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4074558.62, 591876.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172636.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172635.23,3648.7453,N,-12158.1971,W,1,03,00.5,010.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 410.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 410.00 : 17.00 : Estimated East Bias at time = 410.00 : -42.00 : Estimated Depth Bias at time = 410.00 : -1.65 : Estimated northing and easting = 4074575.62 : 591834.56 : AshtechGps::processRecord() - $GPGGA,172637.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172636.23,3648.7455,N,-12158.1980,W,1,03,00.5,010.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172638.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172637.23,3648.7457,N,-12158.1989,W,1,03,00.5,010.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172639.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172638.23,3648.7459,N,-12158.1998,W,1,03,00.5,010.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172640.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172639.23,3648.7462,N,-12158.2008,W,1,03,00.5,010.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172641.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172640.23,3648.7464,N,-12158.2017,W,1,03,00.5,010.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172642.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172641.23,3648.7466,N,-12158.2026,W,1,03,00.5,010.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172643.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172642.23,3648.7469,N,-12158.2035,W,1,03,00.5,010.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172644.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172643.23,3648.7471,N,-12158.2044,W,1,03,00.5,010.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172645.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172644.23,3648.7473,N,-12158.2053,W,1,03,00.5,010.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074562.69, 591862.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=5.01 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,172646.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172645.23,3648.7476,N,-12158.2062,W,1,03,00.5,009.9,M,-99.9,M,,*41 : Waypoint has set the state to finished. : Waypoint (4074562.9, 591862.1), reached at t = 467.80 (wplog) : Vehicle Position is error is (-0.1, 0.3) : LayeredControl::execute() -- (t = 467.797954) Behavior waypoint:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 467.80 (wplog) The current location (N,E) = 4074563.0 , 591861.8 (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 = 467.80 Seconds. : The vehicle position is (4074563.0, 591861.8) : LayeredControl::execute() -- (t = 467.807953) Behavior waypoint_homing:-1 has changed to state Active : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 420.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 420.00 : 17.00 : Estimated East Bias at time = 420.00 : -43.00 : Estimated Depth Bias at time = 420.00 : -1.65 : Estimated northing and easting = 4074579.69 : 591819.90 : AshtechGps::processRecord() - $GPGGA,172647.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172646.23,3648.7478,N,-12158.2071,W,1,03,00.5,010.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=86.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172648.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172647.23,3648.7480,N,-12158.2081,W,1,03,00.5,009.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=86.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172649.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172648.23,3648.7482,N,-12158.2090,W,1,03,00.5,010.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,172650.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172649.23,3648.7484,N,-12158.2099,W,1,03,00.5,010.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=86.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172651.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172650.23,3648.7485,N,-12158.2107,W,1,03,00.5,009.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=86.91 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172652.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172651.23,3648.7487,N,-12158.2116,W,1,03,00.5,009.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=86.93 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172653.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172652.23,3648.7489,N,-12158.2124,W,1,03,00.5,009.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172654.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172653.23,3648.7491,N,-12158.2131,W,1,03,00.5,009.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=86.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172655.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172654.23,3648.7493,N,-12158.2138,W,1,03,00.5,009.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4074566.23, 591850.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=86.86 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172656.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172655.23,3648.7496,N,-12158.2145,W,1,03,00.5,009.6,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 430.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 430.00 : 18.00 : Estimated East Bias at time = 430.00 : -42.00 : Estimated Depth Bias at time = 430.00 : -1.64 : Estimated northing and easting = 4074584.23 : 591808.33 : AshtechGps::processRecord() - $GPGGA,172657.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172656.23,3648.7499,N,-12158.2151,W,1,03,00.5,009.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=86.97 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172658.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172657.23,3648.7502,N,-12158.2156,W,1,03,00.5,009.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=86.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172659.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172658.23,3648.7505,N,-12158.2161,W,1,03,00.5,009.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172700.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172659.23,3648.7509,N,-12158.2165,W,1,03,00.5,009.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172701.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172700.23,3648.7512,N,-12158.2168,W,1,03,00.5,008.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=87.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172702.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172701.23,3648.7516,N,-12158.2171,W,1,03,00.5,008.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=86.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172703.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172702.23,3648.7520,N,-12158.2173,W,1,03,00.5,008.6,M,-99.9,M,,*4e : WaypointHoming: The Usbl does NOT detect the transponder at t = 484.80 Seconds. : The vehicle position is is (4074571.1, 591845.4) : AshtechGps::processRecord() - $GPGGA,172704.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172703.23,3648.7524,N,-12158.2175,W,1,03,00.5,008.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=86.91 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172705.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172704.23,3648.7527,N,-12158.2176,W,1,03,00.5,008.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.07 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) = (4074572.60, 591844.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172706.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172705.23,3648.7531,N,-12158.2177,W,1,03,00.5,008.1,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 440.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 440.00 : 18.00 : Estimated East Bias at time = 440.00 : -41.00 : Estimated Depth Bias at time = 440.00 : -1.61 : Estimated northing and easting = 4074590.60 : 591803.98 : LayeredControl _resolvedCommand - vertMode=2 vert=87.22 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172707.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172706.23,3648.7535,N,-12158.2178,W,1,03,00.5,008.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172708.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172707.23,3648.7539,N,-12158.2178,W,1,03,00.5,007.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.18 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172709.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172708.23,3648.7543,N,-12158.2178,W,1,03,00.5,007.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=87.32 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172710.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172709.23,3648.7547,N,-12158.2179,W,1,03,00.5,007.2,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172711.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172710.23,3648.7551,N,-12158.2179,W,1,03,00.5,007.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=87.14 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172712.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172711.23,3648.7554,N,-12158.2179,W,1,03,00.5,006.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.25 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172713.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172712.23,3648.7558,N,-12158.2179,W,1,03,00.5,006.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=87.32 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172714.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172713.23,3648.7562,N,-12158.2179,W,1,03,00.5,006.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172715.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172714.23,3648.7566,N,-12158.2178,W,1,03,00.5,006.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=87.39 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) = (4074579.83, 591844.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172716.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172715.23,3648.7570,N,-12158.2178,W,1,03,00.5,006.2,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 450.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 450.00 : 9.00 : Estimated East Bias at time = 450.00 : -16.00 : Estimated Depth Bias at time = 450.00 : -1.63 : Estimated northing and easting = 4074588.83 : 591828.64 : LayeredControl _resolvedCommand - vertMode=2 vert=87.29 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172717.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172716.23,3648.7575,N,-12158.2178,W,1,03,00.5,006.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172718.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172717.23,3648.7579,N,-12158.2178,W,1,03,00.5,005.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.36 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172719.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172718.23,3648.7583,N,-12158.2178,W,1,03,00.5,005.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.43 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172720.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172719.23,3648.7588,N,-12158.2178,W,1,03,00.5,005.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.35 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172721.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172720.23,3648.7592,N,-12158.2179,W,1,03,00.5,005.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172722.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172721.23,3648.7596,N,-12158.2179,W,1,03,00.5,005.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.43 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172723.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172722.23,3648.7601,N,-12158.2179,W,1,03,00.5,005.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=87.65 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172724.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172723.23,3648.7605,N,-12158.2180,W,1,03,00.5,005.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172725.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172724.23,3648.7609,N,-12158.2180,W,1,03,00.5,005.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.70 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) = (4074587.81, 591844.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172726.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172725.23,3648.7614,N,-12158.2181,W,1,03,00.5,004.8,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 460.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=87.65 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 460.00 : 9.00 : Estimated East Bias at time = 460.00 : -15.00 : Estimated Depth Bias at time = 460.00 : -1.57 : Estimated northing and easting = 4074596.81 : 591829.25 : AshtechGps::processRecord() - $GPGGA,172727.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172726.23,3648.7618,N,-12158.2182,W,1,03,00.5,004.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.70 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172728.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172727.23,3648.7623,N,-12158.2183,W,1,03,00.5,004.7,M,-99.9,M,,*4b : WaypointHoming: The Usbl has aquired the transponder at t = 510.40 Seconds. : The vehicle position is (4074590.5, 591843.7) : AshtechGps::processRecord() - $GPGGA,172729.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172728.23,3648.7627,N,-12158.2185,W,1,03,00.5,004.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.67 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172730.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172729.23,3648.7631,N,-12158.2187,W,1,03,00.5,004.5,M,-99.9,M,,*40 : WaypointHoming: The Usbl does NOT detect the transponder at t = 511.79 Seconds. : The vehicle position is is (4074591.7, 591843.2) : LayeredControl _resolvedCommand - vertMode=2 vert=87.70 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172731.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172730.23,3648.7635,N,-12158.2189,W,1,03,00.5,004.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172732.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172731.23,3648.7639,N,-12158.2191,W,1,03,00.5,004.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.73 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 514.39 Seconds. : The vehicle position is (4074593.6, 591842.3) : AshtechGps::processRecord() - $GPGGA,172733.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172732.23,3648.7643,N,-12158.2193,W,1,03,00.5,004.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.77 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172734.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172733.23,3648.7647,N,-12158.2196,W,1,03,00.5,004.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.82 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172735.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172734.23,3648.7651,N,-12158.2199,W,1,03,00.5,004.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4074595.33, 591841.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172736.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172735.23,3648.7654,N,-12158.2202,W,1,03,00.5,004.0,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=2 vert=87.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 470.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 470.00 : 23.00 : Estimated East Bias at time = 470.00 : -37.00 : Estimated Depth Bias at time = 470.00 : -1.42 : Estimated northing and easting = 4074618.33 : 591804.29 : AshtechGps::processRecord() - $GPGGA,172737.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172736.23,3648.7657,N,-12158.2205,W,1,03,00.5,004.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.80 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172738.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172737.23,3648.7661,N,-12158.2208,W,1,03,00.5,003.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172739.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172738.23,3648.7664,N,-12158.2212,W,1,03,00.5,003.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=87.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172740.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172739.23,3648.7667,N,-12158.2215,W,1,03,00.5,003.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.80 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172741.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172740.23,3648.7670,N,-12158.2219,W,1,03,00.5,003.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.87 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172742.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172741.23,3648.7673,N,-12158.2223,W,1,03,00.5,003.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172743.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172742.23,3648.7675,N,-12158.2227,W,1,03,00.5,003.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.79 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172744.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172743.23,3648.7678,N,-12158.2231,W,1,03,00.5,003.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=87.86 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172745.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172744.22,3648.7681,N,-12158.2235,W,1,03,00.5,003.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074600.74, 591835.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172746.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172745.22,3648.7683,N,-12158.2240,W,1,03,00.5,003.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=87.84 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 480.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 480.00 : 13.00 : Estimated East Bias at time = 480.00 : -11.00 : Estimated Depth Bias at time = 480.00 : -1.41 : Estimated northing and easting = 4074613.74 : 591824.73 : AshtechGps::processRecord() - $GPGGA,172747.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172746.22,3648.7685,N,-12158.2244,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.85 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172748.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172747.22,3648.7688,N,-12158.2248,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.85 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172749.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172748.22,3648.7690,N,-12158.2253,W,1,03,00.5,003.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172750.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172749.22,3648.7692,N,-12158.2258,W,1,03,00.5,003.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.85 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172751.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172750.22,3648.7695,N,-12158.2263,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=87.86 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172752.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172751.22,3648.7697,N,-12158.2268,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172753.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172752.22,3648.7699,N,-12158.2273,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172754.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172753.22,3648.7701,N,-12158.2278,W,1,03,00.5,003.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172755.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172754.22,3648.7703,N,-12158.2283,W,1,03,00.5,003.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4074604.81, 591828.59) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172756.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172755.22,3648.7705,N,-12158.2286,W,1,03,00.5,002.9,M,-99.9,M,,*44 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 490.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 490.00 : 24.00 : Estimated East Bias at time = 490.00 : -36.00 : Estimated Depth Bias at time = 490.00 : -1.31 : Estimated northing and easting = 4074628.81 : 591792.59 : AshtechGps::processRecord() - $GPGGA,172757.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172756.22,3648.7709,N,-12158.2288,W,1,03,00.5,002.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=88.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172758.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172757.22,3648.7711,N,-12158.2293,W,1,03,00.5,002.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172759.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172758.22,3648.7714,N,-12158.2297,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,172800.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172759.22,3648.7717,N,-12158.2301,W,1,03,00.5,002.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172801.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172800.22,3648.7719,N,-12158.2305,W,1,03,00.5,002.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172802.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172801.22,3648.7721,N,-12158.2310,W,1,03,00.5,002.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.89 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172803.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172802.22,3648.7724,N,-12158.2315,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172804.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172803.22,3648.7726,N,-12158.2320,W,1,03,00.5,002.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=87.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172805.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172804.22,3648.7728,N,-12158.2325,W,1,03,00.5,002.5,M,-99.9,M,,*44 : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4074609.40, 591822.25) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172806.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172805.22,3648.7730,N,-12158.2330,W,1,03,00.5,002.4,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 500.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 500.00 : 14.00 : Estimated East Bias at time = 500.00 : -10.00 : Estimated Depth Bias at time = 500.00 : -1.30 : Estimated northing and easting = 4074623.40 : 591812.25 : AshtechGps::processRecord() - $GPGGA,172807.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172806.22,3648.7732,N,-12158.2335,W,1,03,00.5,002.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172808.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172807.22,3648.7734,N,-12158.2341,W,1,03,00.5,002.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172809.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172808.22,3648.7736,N,-12158.2346,W,1,03,00.5,002.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172810.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172809.22,3648.7737,N,-12158.2351,W,1,03,00.5,002.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172811.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172810.22,3648.7738,N,-12158.2357,W,1,03,00.5,002.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.99 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172812.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172811.22,3648.7740,N,-12158.2362,W,1,03,00.5,002.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172813.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172812.22,3648.7741,N,-12158.2368,W,1,03,00.5,002.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,172814.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172813.22,3648.7742,N,-12158.2373,W,1,03,00.5,002.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172815.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172814.22,3648.7743,N,-12158.2379,W,1,03,00.5,002.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=88.01 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) = (4074612.02, 591814.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172816.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172815.22,3648.7744,N,-12158.2384,W,1,03,00.5,002.3,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 510.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 510.00 : 16.00 : Estimated East Bias at time = 510.00 : -4.00 : Estimated Depth Bias at time = 510.00 : -1.21 : Estimated northing and easting = 4074628.02 : 591810.22 : LayeredControl _resolvedCommand - vertMode=2 vert=87.93 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172817.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172816.22,3648.7745,N,-12158.2389,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,172818.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172817.22,3648.7746,N,-12158.2395,W,1,03,00.5,002.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.86 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172819.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172818.23,3648.7747,N,-12158.2401,W,1,03,00.5,002.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=87.87 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172820.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172819.23,3648.7748,N,-12158.2407,W,1,03,00.5,002.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172821.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172820.23,3648.7749,N,-12158.2412,W,1,03,00.5,002.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=87.84 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172822.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172821.23,3648.7750,N,-12158.2418,W,1,03,00.5,002.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.81 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172823.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172822.23,3648.7751,N,-12158.2424,W,1,03,00.5,002.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=87.83 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172824.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172823.23,3648.7752,N,-12158.2429,W,1,03,00.5,002.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172825.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172824.23,3648.7753,N,-12158.2435,W,1,03,00.5,002.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.84 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) = (4074613.64, 591805.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172826.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172825.23,3648.7754,N,-12158.2441,W,1,03,00.5,002.2,M,-99.9,M,,*4f : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 519.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 519.99 : 29.00 : Estimated East Bias at time = 519.99 : -39.00 : Estimated Depth Bias at time = 519.99 : -1.16 : Estimated northing and easting = 4074642.64 : 591766.70 : LayeredControl _resolvedCommand - vertMode=2 vert=87.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172827.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172826.23,3648.7754,N,-12158.2447,W,1,03,00.5,002.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172828.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172827.23,3648.7755,N,-12158.2452,W,1,03,00.5,002.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172829.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172828.23,3648.7756,N,-12158.2458,W,1,03,00.5,002.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=87.93 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172830.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172829.23,3648.7756,N,-12158.2464,W,1,03,00.5,002.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172831.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172830.23,3648.7757,N,-12158.2470,W,1,03,00.5,002.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,172832.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172831.23,3648.7758,N,-12158.2476,W,1,03,00.5,002.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172833.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172832.23,3648.7758,N,-12158.2481,W,1,03,00.5,002.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=87.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172834.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172833.23,3648.7758,N,-12158.2487,W,1,03,00.5,002.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172835.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172834.23,3648.7758,N,-12158.2493,W,1,03,00.5,002.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=87.92 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) = (4074614.57, 591797.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172836.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172835.23,3648.7759,N,-12158.2499,W,1,03,00.5,002.3,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 529.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=87.86 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 529.99 : 18.00 : Estimated East Bias at time = 529.99 : -4.00 : Estimated Depth Bias at time = 529.99 : -1.12 : Estimated northing and easting = 4074632.57 : 591793.14 : AshtechGps::processRecord() - $GPGGA,172837.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172836.23,3648.7758,N,-12158.2505,W,1,03,00.5,002.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=87.89 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172838.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172837.23,3648.7758,N,-12158.2511,W,1,03,00.5,002.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,172839.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172838.23,3648.7758,N,-12158.2517,W,1,03,00.5,002.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172840.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172839.23,3648.7759,N,-12158.2523,W,1,03,00.5,002.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=87.91 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172841.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172840.23,3648.7758,N,-12158.2528,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172842.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172841.23,3648.7759,N,-12158.2535,W,1,03,00.5,002.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172843.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172842.23,3648.7759,N,-12158.2540,W,1,03,00.5,002.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172844.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172843.23,3648.7759,N,-12158.2546,W,1,03,00.5,002.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172845.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172844.23,3648.7759,N,-12158.2552,W,1,03,00.5,002.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 540.003007 : TerrainNav update at dvl time = 540.003007 : _navData-> (x,y) = (4074614.65, 591788.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172846.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172845.23,3648.7760,N,-12158.2558,W,1,03,00.5,002.3,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0000 : LayeredControl _resolvedCommand - vertMode=2 vert=87.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 540.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 540.00 : 36.00 : Estimated East Bias at time = 540.00 : -36.00 : Estimated Depth Bias at time = 540.00 : -1.06 : Estimated northing and easting = 4074650.65 : 591752.38 : AshtechGps::processRecord() - $GPGGA,172847.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172846.23,3648.7760,N,-12158.2564,W,1,03,00.5,002.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172848.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172847.23,3648.7760,N,-12158.2570,W,1,03,00.5,002.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,172849.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172848.23,3648.7761,N,-12158.2576,W,1,03,00.5,002.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=87.87 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172850.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172849.23,3648.7761,N,-12158.2582,W,1,03,00.5,002.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172851.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172850.23,3648.7761,N,-12158.2588,W,1,03,00.5,002.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172852.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172851.23,3648.7761,N,-12158.2594,W,1,03,00.5,002.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,172853.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172852.23,3648.7761,N,-12158.2600,W,1,03,00.5,002.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172854.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172853.23,3648.7761,N,-12158.2606,W,1,03,00.5,002.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=87.80 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172855.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172854.23,3648.7761,N,-12158.2612,W,1,03,00.5,002.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4074614.90, 591779.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172856.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172855.23,3648.7761,N,-12158.2618,W,1,03,00.5,002.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=87.82 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 550.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 550.00 : 34.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 598.00 Seconds. : The vehicle position is is (4074614.9, 591778.6) : Estimated East Bias at time = 550.00 : -30.00 : Estimated Depth Bias at time = 550.00 : -1.03 : Estimated northing and easting = 4074648.90 : 591749.48 : AshtechGps::processRecord() - $GPGGA,172857.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172856.23,3648.7761,N,-12158.2624,W,1,03,00.5,002.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.85 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 599.20 Seconds. : The vehicle position is (4074614.9, 591777.5) : AshtechGps::processRecord() - $GPGGA,172858.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172857.23,3648.7762,N,-12158.2630,W,1,03,00.5,002.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172859.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172858.23,3648.7762,N,-12158.2636,W,1,03,00.5,002.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172900.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172859.23,3648.7762,N,-12158.2641,W,1,03,00.5,002.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=87.91 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172901.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172900.23,3648.7761,N,-12158.2647,W,1,03,00.5,002.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.89 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172902.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172901.23,3648.7761,N,-12158.2653,W,1,03,00.5,002.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172903.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172902.23,3648.7761,N,-12158.2659,W,1,03,00.5,002.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=87.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172904.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172903.23,3648.7761,N,-12158.2665,W,1,03,00.5,002.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.78 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172905.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172904.23,3648.7761,N,-12158.2672,W,1,03,00.5,002.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4074614.66, 591770.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.79 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172906.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172905.23,3648.7760,N,-12158.2678,W,1,03,00.5,002.5,M,-99.9,M,,*44 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 560.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 560.00 : 36.00 : Estimated East Bias at time = 560.00 : -35.00 : Estimated Depth Bias at time = 560.00 : -1.02 : Estimated northing and easting = 4074650.66 : 591735.58 : AshtechGps::processRecord() - $GPGGA,172907.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172906.23,3648.7760,N,-12158.2684,W,1,03,00.5,002.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.80 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172908.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172907.23,3648.7760,N,-12158.2690,W,1,03,00.5,002.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.83 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172909.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172908.23,3648.7760,N,-12158.2696,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172910.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172909.23,3648.7760,N,-12158.2702,W,1,03,00.5,002.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.83 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172911.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172910.23,3648.7759,N,-12158.2708,W,1,03,00.5,002.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.83 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172912.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172911.23,3648.7759,N,-12158.2713,W,1,03,00.5,002.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.79 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172913.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172912.23,3648.7760,N,-12158.2720,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,172914.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172913.23,3648.7759,N,-12158.2726,W,1,03,00.5,002.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.75 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172915.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172914.23,3648.7759,N,-12158.2731,W,1,03,00.5,002.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074614.35, 591761.68) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.75 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172916.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172915.23,3648.7760,N,-12158.2737,W,1,03,00.5,002.6,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 570.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 570.00 : 36.00 : Estimated East Bias at time = 570.00 : -36.00 : Estimated Depth Bias at time = 570.00 : -1.01 : Estimated northing and easting = 4074650.35 : 591725.68 : AshtechGps::processRecord() - $GPGGA,172917.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172916.23,3648.7760,N,-12158.2744,W,1,03,00.5,002.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=87.78 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172918.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172917.23,3648.7760,N,-12158.2750,W,1,03,00.5,002.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=87.77 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172919.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172918.23,3648.7760,N,-12158.2755,W,1,03,00.5,002.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=87.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172920.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172919.23,3648.7761,N,-12158.2762,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172921.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172920.23,3648.7761,N,-12158.2767,W,1,03,00.5,002.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172922.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172921.23,3648.7762,N,-12158.2773,W,1,03,00.5,002.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=87.77 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172923.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172922.23,3648.7762,N,-12158.2779,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,172924.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172923.23,3648.7762,N,-12158.2785,W,1,03,00.5,002.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.75 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172925.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172924.23,3648.7762,N,-12158.2791,W,1,03,00.5,002.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=87.81 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) = (4074614.82, 591752.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172926.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172925.23,3648.7763,N,-12158.2797,W,1,03,00.5,002.8,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 0.0000 : TerrainNav:: Measurement successfully incorporated from time = 580.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 580.00 : 37.00 : Estimated East Bias at time = 580.00 : -35.00 : Estimated Depth Bias at time = 580.00 : -1.00 : Estimated northing and easting = 4074651.82 : 591717.86 : LayeredControl _resolvedCommand - vertMode=2 vert=87.79 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172927.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172926.23,3648.7763,N,-12158.2803,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,172928.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172927.23,3648.7763,N,-12158.2809,W,1,03,00.5,002.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.83 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172929.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172928.23,3648.7763,N,-12158.2815,W,1,03,00.5,002.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.85 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172930.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172929.23,3648.7763,N,-12158.2821,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,172931.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172930.23,3648.7763,N,-12158.2826,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172932.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172931.23,3648.7764,N,-12158.2832,W,1,03,00.5,003.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172933.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172932.23,3648.7763,N,-12158.2838,W,1,03,00.5,003.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.99 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172934.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172933.23,3648.7763,N,-12158.2844,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,172935.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172934.23,3648.7763,N,-12158.2850,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.02 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) = (4074614.85, 591744.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172936.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172935.23,3648.7763,N,-12158.2855,W,1,03,00.5,003.1,M,-99.9,M,,*40 : TerrainNav::Minimum Correlation Error: 0.1807 : TerrainNav:: Measurement successfully incorporated from time = 590.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 590.00 : 37.00 : Estimated East Bias at time = 590.00 : -34.00 : Estimated Depth Bias at time = 590.00 : -1.00 : Estimated northing and easting = 4074651.85 : 591710.12 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172937.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172936.23,3648.7763,N,-12158.2861,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,172938.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172937.23,3648.7763,N,-12158.2867,W,1,03,00.5,003.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=87.95 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172939.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172938.23,3648.7763,N,-12158.2873,W,1,03,00.5,003.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=87.99 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172940.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172939.23,3648.7763,N,-12158.2879,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172941.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172940.23,3648.7763,N,-12158.2885,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,172942.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172941.23,3648.7763,N,-12158.2891,W,1,03,00.5,003.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=88.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172943.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172942.23,3648.7763,N,-12158.2897,W,1,03,00.5,003.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.02 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172944.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172943.23,3648.7763,N,-12158.2903,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,172945.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172944.23,3648.7764,N,-12158.2908,W,1,03,00.5,003.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.02 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) = (4074614.84, 591735.41) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172946.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172945.23,3648.7764,N,-12158.2914,W,1,03,00.5,003.2,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 0.0794 : TerrainNav:: Measurement successfully incorporated from time = 600.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=88.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 600.00 : 37.00 : Estimated East Bias at time = 600.00 : -35.00 : Estimated Depth Bias at time = 600.00 : -0.99 : Estimated northing and easting = 4074651.84 : 591700.41 : AshtechGps::processRecord() - $GPGGA,172947.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172946.23,3648.7765,N,-12158.2920,W,1,03,00.5,003.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.97 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172948.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172947.23,3648.7765,N,-12158.2926,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172949.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172948.23,3648.7766,N,-12158.2932,W,1,03,00.5,003.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=88.05 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172950.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172949.23,3648.7766,N,-12158.2938,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172951.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172950.23,3648.7767,N,-12158.2944,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,172952.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172951.23,3648.7767,N,-12158.2950,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=88.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172953.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172952.23,3648.7768,N,-12158.2955,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.12 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172954.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172953.23,3648.7768,N,-12158.2961,W,1,03,00.5,003.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.10 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172955.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172954.23,3648.7769,N,-12158.2966,W,1,03,00.5,003.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4074615.67, 591726.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,172956.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172955.23,3648.7769,N,-12158.2972,W,1,03,00.5,003.1,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 0.0303 : LayeredControl _resolvedCommand - vertMode=2 vert=88.10 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : 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 : -33.00 : Estimated Depth Bias at time = 610.00 : -0.97 : Estimated northing and easting = 4074654.67 : 591693.73 : AshtechGps::processRecord() - $GPGGA,172957.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172956.23,3648.7769,N,-12158.2978,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.05 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,172958.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172957.23,3648.7769,N,-12158.2985,W,1,03,00.5,003.1,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,172959.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172958.23,3648.7769,N,-12158.2991,W,1,03,00.5,003.0,M,-99.9,M,,*49 : WaypointHoming: The Usbl does NOT detect the transponder at t = 660.59 Seconds. : The vehicle position is is (4074615.6, 591723.5) : LayeredControl _resolvedCommand - vertMode=2 vert=88.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173000.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,172959.23,3648.7769,N,-12158.2997,W,1,03,00.5,003.0,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 661.79 Seconds. : The vehicle position is (4074615.6, 591722.4) : LayeredControl _resolvedCommand - vertMode=2 vert=88.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173001.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173000.23,3648.7768,N,-12158.3002,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=88.09 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173001.23,3648.7768,N,-12158.3008,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173003.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173002.23,3648.7768,N,-12158.3014,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.12 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173004.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173003.23,3648.7767,N,-12158.3019,W,1,03,00.5,003.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=88.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173004.23,3648.7767,N,-12158.3025,W,1,03,00.5,003.1,M,-99.9,M,,*40 : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4074615.20, 591718.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173006.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173005.23,3648.7766,N,-12158.3031,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=88.01 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.1080 : 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 : -33.00 : Estimated Depth Bias at time = 620.00 : -0.96 : Estimated northing and easting = 4074654.20 : 591685.02 : AshtechGps::processRecord() - $GPGGA,173007.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173006.23,3648.7766,N,-12158.3037,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173008.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173007.23,3648.7765,N,-12158.3043,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173009.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173008.23,3648.7765,N,-12158.3049,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173010.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173009.23,3648.7765,N,-12158.3055,W,1,03,00.5,003.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=88.01 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173011.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173010.22,3648.7765,N,-12158.3061,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173011.22,3648.7764,N,-12158.3066,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173013.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173012.22,3648.7764,N,-12158.3072,W,1,03,00.5,003.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=87.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173013.22,3648.7764,N,-12158.3078,W,1,03,00.5,002.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=87.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173015.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173014.22,3648.7764,N,-12158.3084,W,1,03,00.5,002.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074614.68, 591709.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173015.22,3648.7764,N,-12158.3089,W,1,03,00.5,002.9,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 0.4842 : TerrainNav:: Measurement successfully incorporated from time = 630.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 630.00 : 40.00 : Estimated East Bias at time = 630.00 : -32.00 : Estimated Depth Bias at time = 630.00 : -0.96 : Estimated northing and easting = 4074654.68 : 591677.34 : AshtechGps::processRecord() - $GPGGA,173017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173016.22,3648.7765,N,-12158.3095,W,1,03,00.5,002.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.93 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173017.22,3648.7765,N,-12158.3099,W,1,03,00.5,002.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=87.87 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173018.22,3648.7765,N,-12158.3105,W,1,03,00.5,002.9,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173020.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173019.22,3648.7765,N,-12158.3110,W,1,03,00.5,002.9,M,-99.9,M,,*41 : WaypointHoming: The Usbl does NOT detect the transponder at t = 681.59 Seconds. : The vehicle position is is (4074614.8, 591705.7) : LayeredControl _resolvedCommand - vertMode=2 vert=87.89 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173020.22,3648.7765,N,-12158.3115,W,1,03,00.5,002.9,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 682.59 Seconds. : The vehicle position is (4074614.8, 591705.1) : LayeredControl _resolvedCommand - vertMode=2 vert=87.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173021.22,3648.7766,N,-12158.3119,W,1,03,00.5,002.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173023.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173022.22,3648.7766,N,-12158.3125,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173023.22,3648.7766,N,-12158.3131,W,1,03,00.5,002.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=88.02 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173025.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173024.22,3648.7767,N,-12158.3136,W,1,03,00.5,002.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4074615.08, 591701.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=87.93 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173025.22,3648.7767,N,-12158.3142,W,1,03,00.5,002.9,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 0.4997 : TerrainNav:: Measurement successfully incorporated from time = 640.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 640.00 : 41.00 : Estimated East Bias at time = 640.00 : -31.00 : Estimated Depth Bias at time = 640.00 : -0.96 : Estimated northing and easting = 4074656.08 : 591670.46 : AshtechGps::processRecord() - $GPGGA,173027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173026.22,3648.7768,N,-12158.3148,W,1,03,00.5,002.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=87.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173027.22,3648.7768,N,-12158.3155,W,1,03,00.5,002.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173029.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173028.22,3648.7768,N,-12158.3161,W,1,03,00.5,002.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=87.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173030.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173029.22,3648.7768,N,-12158.3167,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173030.22,3648.7768,N,-12158.3173,W,1,03,00.5,002.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.97 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173031.22,3648.7768,N,-12158.3179,W,1,03,00.5,003.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173032.22,3648.7767,N,-12158.3185,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173034.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173033.22,3648.7767,N,-12158.3191,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.02 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173035.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173034.22,3648.7767,N,-12158.3197,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 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) = (4074614.90, 591692.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173036.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173035.22,3648.7766,N,-12158.3203,W,1,03,00.5,003.0,M,-99.9,M,,*45 : TerrainNav::Minimum Correlation Error: 0.2781 : TerrainNav:: Measurement successfully incorporated from time = 650.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 650.00 : 41.00 : Estimated East Bias at time = 650.00 : -30.00 : Estimated Depth Bias at time = 650.00 : -0.95 : Estimated northing and easting = 4074655.90 : 591662.51 : LayeredControl _resolvedCommand - vertMode=2 vert=88.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173036.22,3648.7766,N,-12158.3208,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173037.22,3648.7766,N,-12158.3214,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173039.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173038.22,3648.7765,N,-12158.3220,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173039.22,3648.7765,N,-12158.3226,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173041.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173040.22,3648.7765,N,-12158.3232,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=87.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173042.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173041.22,3648.7764,N,-12158.3238,W,1,03,00.5,003.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173043.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173042.22,3648.7764,N,-12158.3244,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173044.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173043.22,3648.7764,N,-12158.3250,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173045.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173044.23,3648.7764,N,-12158.3256,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 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) = (4074614.31, 591683.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173046.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173045.23,3648.7764,N,-12158.3262,W,1,03,00.5,003.1,M,-99.9,M,,*47 : TerrainNav::Minimum Correlation Error: 0.2760 : TerrainNav:: Measurement successfully incorporated from time = 659.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 659.99 : 41.00 : Estimated East Bias at time = 659.99 : -29.00 : Estimated Depth Bias at time = 659.99 : -0.96 : Estimated northing and easting = 4074655.31 : 591654.73 : LayeredControl _resolvedCommand - vertMode=2 vert=88.03 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173047.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173046.23,3648.7764,N,-12158.3268,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173048.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173047.23,3648.7764,N,-12158.3273,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=88.05 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173049.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173048.23,3648.7764,N,-12158.3279,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.07 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173050.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173049.23,3648.7764,N,-12158.3285,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=88.07 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173051.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173050.23,3648.7764,N,-12158.3291,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173052.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173051.23,3648.7764,N,-12158.3298,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=88.11 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173053.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173052.23,3648.7765,N,-12158.3304,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.11 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173053.23,3648.7765,N,-12158.3310,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173055.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173054.23,3648.7765,N,-12158.3316,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.14 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4074614.34, 591674.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173055.23,3648.7764,N,-12158.3322,W,1,03,00.5,003.1,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 0.0948 : TerrainNav:: Measurement successfully incorporated from time = 669.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=88.14 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 669.99 : 41.00 : Estimated East Bias at time = 669.99 : -30.00 : Estimated Depth Bias at time = 669.99 : -0.97 : Estimated northing and easting = 4074655.34 : 591644.81 : AshtechGps::processRecord() - $GPGGA,173057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173056.23,3648.7764,N,-12158.3328,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.09 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173057.23,3648.7764,N,-12158.3334,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173059.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173058.23,3648.7764,N,-12158.3340,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.12 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173059.23,3648.7764,N,-12158.3346,W,1,03,00.5,003.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.14 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173101.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173100.23,3648.7764,N,-12158.3352,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173102.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173101.23,3648.7764,N,-12158.3358,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=88.17 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173103.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173102.23,3648.7763,N,-12158.3364,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=88.16 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173104.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173103.23,3648.7763,N,-12158.3370,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.19 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173105.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173104.23,3648.7763,N,-12158.3375,W,1,03,00.5,003.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4074613.98, 591665.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173106.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173105.23,3648.7763,N,-12158.3381,W,1,03,00.5,003.1,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 0.0089 : LayeredControl _resolvedCommand - vertMode=2 vert=88.19 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 679.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 679.99 : 42.00 : Estimated East Bias at time = 679.99 : -29.00 : Estimated Depth Bias at time = 679.99 : -0.97 : Estimated northing and easting = 4074655.98 : 591636.96 : AshtechGps::processRecord() - $GPGGA,173107.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173106.23,3648.7763,N,-12158.3387,W,1,03,00.5,003.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=88.17 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173108.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173107.23,3648.7762,N,-12158.3393,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173109.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173108.23,3648.7762,N,-12158.3399,W,1,03,00.5,003.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=88.16 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173110.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173109.23,3648.7762,N,-12158.3405,W,1,03,00.5,003.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=88.19 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173111.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173110.23,3648.7762,N,-12158.3411,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=88.19 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173112.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173111.23,3648.7762,N,-12158.3417,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173113.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173112.23,3648.7762,N,-12158.3423,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.19 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173114.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173113.23,3648.7761,N,-12158.3430,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.24 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173115.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173114.23,3648.7761,N,-12158.3435,W,1,03,00.5,003.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074613.55, 591657.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173116.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173115.23,3648.7761,N,-12158.3441,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=88.24 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.0148 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav:: Measurement successfully incorporated from time = 690.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.00 : Estimated North Bias at time = 690.00 : 42.00 : Estimated East Bias at time = 690.00 : -28.00 : Estimated Depth Bias at time = 690.00 : -0.96 : Estimated northing and easting = 4074655.55 : 591629.04 : WaypointHoming: The Usbl does NOT detect the transponder at t = 738.20 Seconds. : The vehicle position is is (4074613.5, 591656.0) : AshtechGps::processRecord() - $GPGGA,173117.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173116.23,3648.7761,N,-12158.3447,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.20 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 739.20 Seconds. : The vehicle position is (4074613.5, 591655.1) : AshtechGps::processRecord() - $GPGGA,173118.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173117.23,3648.7761,N,-12158.3453,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.23 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173119.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173118.23,3648.7761,N,-12158.3459,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173120.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173119.23,3648.7761,N,-12158.3465,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.23 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173121.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173120.23,3648.7761,N,-12158.3471,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.26 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173122.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173121.23,3648.7761,N,-12158.3477,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173123.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173122.23,3648.7761,N,-12158.3483,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.36 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173124.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173123.23,3648.7761,N,-12158.3489,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.39 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173125.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173124.23,3648.7761,N,-12158.3494,W,1,03,00.5,003.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4074613.41, 591648.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=88.37 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173126.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173125.23,3648.7761,N,-12158.3500,W,1,03,00.5,003.1,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0113 : TerrainNav:: Measurement successfully incorporated from time = 700.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 700.00 : 42.00 : Estimated East Bias at time = 700.00 : -28.00 : Estimated Depth Bias at time = 700.00 : -0.97 : Estimated northing and easting = 4074655.41 : 591620.27 : AshtechGps::processRecord() - $GPGGA,173127.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173126.23,3648.7761,N,-12158.3506,W,1,03,00.5,003.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=88.26 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173128.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173127.23,3648.7761,N,-12158.3512,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=88.27 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173129.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173128.23,3648.7761,N,-12158.3518,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173130.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173129.23,3648.7761,N,-12158.3525,W,1,03,00.5,003.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=88.35 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173131.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173130.23,3648.7761,N,-12158.3531,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.30 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173132.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173131.23,3648.7760,N,-12158.3537,W,1,03,00.5,003.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=88.38 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173133.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173132.23,3648.7760,N,-12158.3543,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173134.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173133.23,3648.7760,N,-12158.3549,W,1,03,00.5,003.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.46 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173135.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173134.23,3648.7759,N,-12158.3555,W,1,03,00.5,003.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4074612.99, 591639.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=88.40 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173136.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173135.23,3648.7759,N,-12158.3561,W,1,03,00.5,003.1,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 0.0111 : TerrainNav:: Measurement successfully incorporated from time = 710.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 710.00 : 43.00 : Estimated East Bias at time = 710.00 : -25.00 : Estimated Depth Bias at time = 710.00 : -0.96 : Estimated northing and easting = 4074655.99 : 591614.21 : AshtechGps::processRecord() - $GPGGA,173137.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173136.23,3648.7759,N,-12158.3567,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=88.40 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173138.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173137.23,3648.7759,N,-12158.3573,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.44 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173139.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173138.23,3648.7758,N,-12158.3579,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=88.49 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173140.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173139.23,3648.7758,N,-12158.3585,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173141.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173140.23,3648.7758,N,-12158.3591,W,1,03,00.5,003.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.53 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173142.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173141.23,3648.7758,N,-12158.3597,W,1,03,00.5,003.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=88.46 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173143.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173142.23,3648.7757,N,-12158.3603,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173144.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173143.23,3648.7757,N,-12158.3609,W,1,03,00.5,003.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.51 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173145.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173144.23,3648.7757,N,-12158.3615,W,1,03,00.5,003.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.55 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) = (4074612.46, 591630.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173146.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173145.23,3648.7757,N,-12158.3621,W,1,03,00.5,003.2,M,-99.9,M,,*46 : TerrainNav::Minimum Correlation Error: 0.0052 : TerrainNav:: Measurement successfully incorporated from time = 720.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 720.00 : 43.00 : Estimated East Bias at time = 720.00 : -25.00 : Estimated Depth Bias at time = 720.00 : -0.97 : Estimated northing and easting = 4074655.46 : 591605.31 : LayeredControl _resolvedCommand - vertMode=2 vert=88.61 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173147.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173146.23,3648.7757,N,-12158.3627,W,1,03,00.5,003.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173148.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173147.23,3648.7757,N,-12158.3633,W,1,03,00.5,003.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=88.63 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173149.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173148.23,3648.7757,N,-12158.3639,W,1,03,00.5,003.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=88.69 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173150.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173149.23,3648.7757,N,-12158.3645,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173151.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173150.23,3648.7757,N,-12158.3651,W,1,03,00.5,003.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=88.74 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173152.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173151.23,3648.7757,N,-12158.3657,W,1,03,00.5,003.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=88.80 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173153.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173152.23,3648.7757,N,-12158.3663,W,1,03,00.5,003.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=88.79 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173154.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173153.23,3648.7757,N,-12158.3669,W,1,03,00.5,003.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173155.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173154.23,3648.7757,N,-12158.3675,W,1,03,00.5,003.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=88.84 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) = (4074612.38, 591621.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173156.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173155.23,3648.7757,N,-12158.3681,W,1,03,00.5,003.2,M,-99.9,M,,*4d : TerrainNav::Minimum Correlation Error: 0.0033 : TerrainNav:: Measurement successfully incorporated from time = 730.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 730.00 : 44.00 : Estimated East Bias at time = 730.00 : -25.00 : Estimated Depth Bias at time = 730.00 : -0.96 : Estimated northing and easting = 4074656.38 : 591596.45 : LayeredControl _resolvedCommand - vertMode=2 vert=88.82 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173157.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173156.23,3648.7757,N,-12158.3687,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173158.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173157.23,3648.7757,N,-12158.3693,W,1,03,00.5,003.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.89 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 780.00 Seconds. : The vehicle position is is (4074612.3, 591618.8) : AshtechGps::processRecord() - $GPGGA,173159.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173158.23,3648.7757,N,-12158.3698,W,1,03,00.5,003.3,M,-99.9,M,,*49 : WaypointHoming: The Usbl has aquired the transponder at t = 781.00 Seconds. : The vehicle position is (4074612.3, 591617.9) : LayeredControl _resolvedCommand - vertMode=2 vert=88.91 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173200.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173159.23,3648.7757,N,-12158.3704,W,1,03,00.5,003.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=88.97 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173201.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173200.23,3648.7757,N,-12158.3711,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173202.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173201.23,3648.7757,N,-12158.3717,W,1,03,00.5,003.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.98 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173203.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173202.23,3648.7757,N,-12158.3723,W,1,03,00.5,003.3,M,-99.9,M,,*44 : WaypointHoming has set the state to finished. : WaypointHoming (4074612.4, 591564.4), reached at t = 785.00 (wplog) : Vehicle Position error is (0.1, -49.9) : The distance to the waypoint is 49.9. : LayeredControl::execute() -- (t = 784.996224) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 785.00. : LayeredControl::execute() -- (t = 785.006223) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 785.01 (wplog) The current location (N,E) = 4074612.3 , 591614.3 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 226.6 Degrees. : WaypointHoming: The Usbl has aquired the transponder at t = 785.01 Seconds. : The vehicle position is (4074612.3, 591614.3) : LayeredControl::execute() -- (t = 785.006223) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 65 photo sequence. : LayeredControl _resolvedCommand - vertMode=2 vert=89.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173204.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,173205.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.05 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) = (4074612.28, 591612.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173205.03,3648.7757,N,-12158.3740,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173206.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0019 : TerrainNav:: Measurement successfully incorporated from time = 740.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=2 vert=89.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 740.00 : 44.00 : Estimated East Bias at time = 740.00 : -25.00 : Estimated Depth Bias at time = 740.00 : -0.96 : Estimated northing and easting = 4074656.28 : 591587.54 : NMEA Update: $GPGGA,173206.03,3648.7757,N,-12158.3745,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173207.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173207.03,3648.7756,N,-12158.3751,W,1,03,00.5,003.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=89.11 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173208.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173208.03,3648.7756,N,-12158.3757,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173209.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.14 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173209.03,3648.7756,N,-12158.3763,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173210.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.18 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173210.03,3648.7755,N,-12158.3769,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173211.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173211.03,3648.7754,N,-12158.3775,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173212.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.20 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173212.03,3648.7754,N,-12158.3781,W,1,03,00.5,003.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173213.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.31 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173213.03,3648.7753,N,-12158.3787,W,1,03,00.5,003.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173214.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173214.03,3648.7753,N,-12158.3793,W,1,03,00.5,003.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=89.21 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173215.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 749.998622 : TerrainNav update at dvl time = 749.998622 : _navData-> (x,y) = (4074611.36, 591603.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173215.03,3648.7752,N,-12158.3799,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173216.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0054 : LayeredControl _resolvedCommand - vertMode=2 vert=89.26 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 750.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 750.00 : 45.00 : Estimated East Bias at time = 750.00 : -23.00 : Estimated Depth Bias at time = 750.00 : -0.94 : Estimated northing and easting = 4074656.36 : 591580.75 : NMEA Update: $GPGGA,173216.03,3648.7752,N,-12158.3805,W,1,03,00.5,003.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173217.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.30 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173217.03,3648.7751,N,-12158.3811,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173218.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173218.03,3648.7751,N,-12158.3817,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173219.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.33 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173219.03,3648.7750,N,-12158.3823,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173220.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.44 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173220.03,3648.7750,N,-12158.3829,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173221.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173221.03,3648.7750,N,-12158.3835,W,1,03,00.5,003.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=89.43 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173222.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173222.03,3648.7750,N,-12158.3841,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173223.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.50 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173223.03,3648.7750,N,-12158.3847,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173224.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.47 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173224.03,3648.7750,N,-12158.3853,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173225.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 759.997937 : TerrainNav update at dvl time = 759.997937 : _navData-> (x,y) = (4074610.82, 591594.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173225.03,3648.7750,N,-12158.3860,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173226.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.44 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.0231 : TerrainNav:: Measurement successfully incorporated from time = 760.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 760.00 : 48.00 : Estimated East Bias at time = 760.00 : -23.00 : Estimated Depth Bias at time = 760.00 : -0.91 : Estimated northing and easting = 4074658.82 : 591571.72 : NMEA Update: $GPGGA,173226.03,3648.7750,N,-12158.3866,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173227.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.47 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173227.03,3648.7750,N,-12158.3871,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173228.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173228.03,3648.7750,N,-12158.3877,W,1,03,00.5,003.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=89.54 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173229.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173229.03,3648.7750,N,-12158.3883,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173230.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.54 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173230.03,3648.7751,N,-12158.3889,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173231.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.54 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173231.03,3648.7751,N,-12158.3895,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173232.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173232.03,3648.7751,N,-12158.3901,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173233.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.56 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173233.03,3648.7751,N,-12158.3907,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173234.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.58 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173234.03,3648.7752,N,-12158.3912,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173235.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4074611.06, 591586.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173235.03,3648.7752,N,-12158.3918,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=89.63 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173236.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0047 : TerrainNav:: Measurement successfully incorporated from time = 770.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 770.00 : 49.00 : Estimated East Bias at time = 770.00 : -22.00 : Estimated Depth Bias at time = 770.00 : -0.89 : Estimated northing and easting = 4074660.06 : 591564.01 : NMEA Update: $GPGGA,173236.02,3648.7752,N,-12158.3923,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173237.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.64 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173237.02,3648.7752,N,-12158.3929,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173238.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.66 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173238.02,3648.7752,N,-12158.3935,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173239.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173239.02,3648.7752,N,-12158.3941,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173240.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.65 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173240.02,3648.7753,N,-12158.3947,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173241.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.59 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173241.02,3648.7753,N,-12158.3952,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173242.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173242.02,3648.7753,N,-12158.3958,W,1,03,00.5,002.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=89.61 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173243.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173243.02,3648.7753,N,-12158.3964,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173244.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.55 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173244.02,3648.7753,N,-12158.3970,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173245.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074611.16, 591577.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=89.58 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173245.02,3648.7753,N,-12158.3976,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173246.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0044 : TerrainNav:: Measurement successfully incorporated from time = 780.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 780.00 : 47.00 : Estimated East Bias at time = 780.00 : -16.00 : Estimated Depth Bias at time = 780.00 : -0.85 : Estimated northing and easting = 4074658.16 : 591561.37 : NMEA Update: $GPGGA,173246.02,3648.7753,N,-12158.3982,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173247.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.56 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173247.02,3648.7753,N,-12158.3988,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173248.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.57 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173248.02,3648.7753,N,-12158.3994,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173249.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173249.02,3648.7753,N,-12158.4000,W,1,03,00.5,002.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=89.59 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173250.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173250.02,3648.7753,N,-12158.4007,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173251.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.64 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173251.02,3648.7753,N,-12158.4013,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173252.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.61 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173252.02,3648.7753,N,-12158.4019,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173253.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173253.02,3648.7753,N,-12158.4025,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173254.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.62 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173254.02,3648.7754,N,-12158.4031,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173255.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.65 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) = (4074611.19, 591568.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173255.02,3648.7754,N,-12158.4037,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173256.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0034 : TerrainNav:: Measurement successfully incorporated from time = 790.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 790.00 : 50.00 : Estimated East Bias at time = 790.00 : -21.00 : Estimated Depth Bias at time = 790.00 : -0.85 : Estimated northing and easting = 4074661.19 : 591547.28 : NMEA Update: $GPGGA,173256.02,3648.7754,N,-12158.4043,W,1,03,00.5,002.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=89.65 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173257.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 838.99 Seconds. : The vehicle position is is (4074611.1, 591566.5) : NMEA Update: $GPGGA,173257.02,3648.7753,N,-12158.4050,W,1,03,00.5,002.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173258.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.62 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173258.02,3648.7754,N,-12158.4056,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173259.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.68 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173259.02,3648.7754,N,-12158.4062,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173300.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173300.02,3648.7754,N,-12158.4068,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173301.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.70 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173301.02,3648.7754,N,-12158.4074,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173302.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.65 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173302.02,3648.7754,N,-12158.4080,W,1,03,00.5,002.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173303.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173303.02,3648.7754,N,-12158.4087,W,1,03,00.5,002.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=89.65 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173304.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173304.02,3648.7754,N,-12158.4092,W,1,03,00.5,002.8,M,-99.9,M,,*43 : WaypointHoming: The Usbl has aquired the transponder at t = 846.39 Seconds. : The vehicle position is (4074611.2, 591559.7) : AshtechGps::processRecord() - $GPGGA,173305.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.70 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) = (4074611.16, 591559.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173305.02,3648.7754,N,-12158.4098,W,1,03,00.5,002.8,M,-99.9,M,,*48 : WaypointHoming: The Usbl does NOT detect the transponder at t = 847.39 Seconds. : The vehicle position is is (4074611.2, 591558.9) : AshtechGps::processRecord() - $GPGGA,173306.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0131 : TerrainNav:: Measurement successfully incorporated from time = 800.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 800.00 : 49.00 : Estimated East Bias at time = 800.00 : -17.00 : Estimated Depth Bias at time = 800.00 : -0.81 : Estimated northing and easting = 4074660.16 : 591542.19 : LayeredControl _resolvedCommand - vertMode=2 vert=89.71 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173306.02,3648.7754,N,-12158.4104,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173307.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173307.02,3648.7754,N,-12158.4110,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173308.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.70 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173308.02,3648.7754,N,-12158.4116,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173309.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.69 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173309.02,3648.7754,N,-12158.4122,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173310.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173310.02,3648.7754,N,-12158.4127,W,1,03,00.5,002.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=89.69 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173311.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173310.83,3648.7754,N,-12158.4132,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173312.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.68 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173311.83,3648.7754,N,-12158.4138,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173313.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173312.83,3648.7754,N,-12158.4144,W,1,03,00.5,002.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=89.71 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173314.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173313.83,3648.7754,N,-12158.4150,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173315.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.73 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) = (4074611.13, 591550.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173314.83,3648.7754,N,-12158.4156,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173316.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0171 : TerrainNav:: Measurement successfully incorporated from time = 809.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=89.74 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 809.99 : 50.00 : Estimated East Bias at time = 809.99 : -19.00 : Estimated Depth Bias at time = 809.99 : -0.81 : Estimated northing and easting = 4074661.13 : 591531.44 : NMEA Update: $GPGGA,173315.83,3648.7754,N,-12158.4162,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173317.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173316.83,3648.7755,N,-12158.4168,W,1,03,00.5,002.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=89.74 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173318.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173317.83,3648.7755,N,-12158.4174,W,1,03,00.5,002.8,M,-99.9,M,,*40 : WaypointHoming: The Usbl has aquired the transponder at t = 860.20 Seconds. : The vehicle position is (4074611.2, 591547.6) : AshtechGps::processRecord() - $GPGGA,173319.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173318.83,3648.7755,N,-12158.4180,W,1,03,00.5,002.8,M,-99.9,M,,*44 : WaypointHoming: The Usbl does NOT detect the transponder at t = 861.20 Seconds. : The vehicle position is is (4074611.2, 591546.7) : AshtechGps::processRecord() - $GPGGA,173320.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173319.83,3648.7755,N,-12158.4186,W,1,03,00.5,002.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=89.74 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173321.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173320.83,3648.7755,N,-12158.4192,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173322.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173321.83,3648.7755,N,-12158.4198,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173323.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.74 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173322.83,3648.7756,N,-12158.4204,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173324.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173323.83,3648.7756,N,-12158.4210,W,1,03,00.5,002.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=89.72 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173325.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4074611.33, 591541.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173324.83,3648.7756,N,-12158.4216,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173326.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0045 : LayeredControl _resolvedCommand - vertMode=2 vert=89.72 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 819.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 819.99 : 49.00 : Estimated East Bias at time = 819.99 : -16.00 : Estimated Depth Bias at time = 819.99 : -0.79 : Estimated northing and easting = 4074660.33 : 591525.48 : NMEA Update: $GPGGA,173325.83,3648.7756,N,-12158.4222,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173327.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173326.83,3648.7756,N,-12158.4228,W,1,03,00.5,002.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=89.73 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173328.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173327.83,3648.7756,N,-12158.4234,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173329.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.72 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173328.83,3648.7756,N,-12158.4240,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173330.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.78 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173329.83,3648.7756,N,-12158.4246,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173331.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173330.83,3648.7756,N,-12158.4253,W,1,03,00.5,002.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=89.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173332.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173331.83,3648.7756,N,-12158.4259,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173333.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173332.83,3648.7756,N,-12158.4265,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173334.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173333.83,3648.7756,N,-12158.4271,W,1,03,00.5,002.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=89.76 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173335.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 830.003141 : TerrainNav update at dvl time = 830.003141 : _navData-> (x,y) = (4074611.19, 591532.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173334.83,3648.7756,N,-12158.4277,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173336.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.75 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.0046 : TerrainNav:: Measurement successfully incorporated from time = 830.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 830.00 : 49.00 : Estimated East Bias at time = 830.00 : -14.00 : Estimated Depth Bias at time = 830.00 : -0.77 : Estimated northing and easting = 4074660.19 : 591518.45 : NMEA Update: $GPGGA,173335.83,3648.7756,N,-12158.4283,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173337.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.73 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173336.83,3648.7756,N,-12158.4289,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173338.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173337.83,3648.7756,N,-12158.4295,W,1,03,00.5,002.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=89.78 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173339.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173338.83,3648.7756,N,-12158.4302,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173340.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=89.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173339.83,3648.7756,N,-12158.4307,W,1,03,00.5,002.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173341.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173340.83,3648.7756,N,-12158.4313,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=89.89 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173342.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173341.83,3648.7756,N,-12158.4319,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173343.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.85 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173342.83,3648.7756,N,-12158.4325,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173344.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.84 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173343.83,3648.7756,N,-12158.4331,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173345.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074611.12, 591523.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173344.83,3648.7756,N,-12158.4337,W,1,03,00.5,002.9,M,-99.9,M,,*41 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : LayeredControl _resolvedCommand - vertMode=2 vert=89.88 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173346.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0003 : TerrainNav:: Measurement successfully incorporated from time = 840.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 840.00 : 50.00 : Estimated East Bias at time = 840.00 : -18.00 : Estimated Depth Bias at time = 840.00 : -0.77 : Estimated northing and easting = 4074661.12 : 591505.59 : NMEA Update: $GPGGA,173345.83,3648.7756,N,-12158.4343,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173347.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173346.83,3648.7756,N,-12158.4349,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173348.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173347.83,3648.7756,N,-12158.4355,W,1,03,00.5,003.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=89.91 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173349.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173348.83,3648.7756,N,-12158.4361,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173350.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173349.83,3648.7756,N,-12158.4367,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173351.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173350.83,3648.7756,N,-12158.4373,W,1,03,00.5,003.0,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173352.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173351.83,3648.7756,N,-12158.4379,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=89.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173353.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173352.83,3648.7756,N,-12158.4385,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173354.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.97 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173353.83,3648.7756,N,-12158.4391,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173355.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4074611.13, 591514.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173354.83,3648.7756,N,-12158.4397,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=89.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173356.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0013 : TerrainNav:: Measurement successfully incorporated from time = 850.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 850.00 : 50.00 : Estimated East Bias at time = 850.00 : -18.00 : Estimated Depth Bias at time = 850.00 : -0.77 : Estimated northing and easting = 4074661.13 : 591496.63 : NMEA Update: $GPGGA,173355.83,3648.7756,N,-12158.4403,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173357.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.90 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173356.83,3648.7758,N,-12158.4409,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173358.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173357.83,3648.7758,N,-12158.4415,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173359.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173358.83,3648.7758,N,-12158.4421,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=89.92 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173400.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173359.83,3648.7758,N,-12158.4427,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173401.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173400.83,3648.7759,N,-12158.4433,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173402.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173401.83,3648.7759,N,-12158.4439,W,1,03,00.5,003.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=89.94 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173403.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173402.83,3648.7759,N,-12158.4445,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.96 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173403.83,3648.7759,N,-12158.4450,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4074611.49, 591505.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=90.02 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173404.83,3648.7759,N,-12158.4456,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173406.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0190 : TerrainNav:: Measurement successfully incorporated from time = 860.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 860.00 : 50.00 : Estimated East Bias at time = 860.00 : -14.00 : Estimated Depth Bias at time = 860.00 : -0.75 : Estimated northing and easting = 4074661.49 : 591491.76 : NMEA Update: $GPGGA,173405.83,3648.7759,N,-12158.4462,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.01 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173406.83,3648.7759,N,-12158.4469,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173408.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.02 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173407.83,3648.7759,N,-12158.4474,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173408.83,3648.7759,N,-12158.4480,W,1,03,00.5,003.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=90.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173409.83,3648.7759,N,-12158.4486,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173411.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173410.83,3648.7759,N,-12158.4492,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173411.83,3648.7759,N,-12158.4499,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173413.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173412.83,3648.7759,N,-12158.4505,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173413.83,3648.7759,N,-12158.4511,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173415.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4074611.42, 591496.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173414.83,3648.7759,N,-12158.4517,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0104 : TerrainNav:: Measurement successfully incorporated from time = 870.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 870.00 : 50.00 : Estimated East Bias at time = 870.00 : -16.00 : Estimated Depth Bias at time = 870.00 : -0.75 : Estimated northing and easting = 4074661.42 : 591480.84 : NMEA Update: $GPGGA,173415.83,3648.7759,N,-12158.4523,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.06 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173416.83,3648.7759,N,-12158.4529,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173418.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.07 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173417.83,3648.7759,N,-12158.4535,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.10 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173418.83,3648.7759,N,-12158.4541,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173420.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173419.83,3648.7759,N,-12158.4547,W,1,03,00.5,003.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=90.07 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173421.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173420.83,3648.7759,N,-12158.4553,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.10 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173421.83,3648.7759,N,-12158.4559,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173423.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173422.83,3648.7759,N,-12158.4565,W,1,03,00.5,003.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.11 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173423.83,3648.7759,N,-12158.4571,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173425.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.15 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4074611.29, 591487.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173424.83,3648.7759,N,-12158.4577,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0155 : TerrainNav:: Measurement successfully incorporated from time = 880.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : LayeredControl _resolvedCommand - vertMode=2 vert=90.16 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : Estimated North Bias at time = 880.00 : 50.00 : Estimated East Bias at time = 880.00 : -15.00 : Estimated Depth Bias at time = 880.00 : -0.74 : Estimated northing and easting = 4074661.29 : 591472.88 : NMEA Update: $GPGGA,173425.83,3648.7759,N,-12158.4583,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173427.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173426.83,3648.7759,N,-12158.4589,W,1,03,00.5,003.0,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=90.12 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173428.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173427.83,3648.7759,N,-12158.4595,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173429.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.11 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173428.83,3648.7759,N,-12158.4600,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173430.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173429.83,3648.7758,N,-12158.4604,W,1,03,00.5,003.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.07 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173431.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173430.83,3648.7759,N,-12158.4610,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173432.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.04 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173431.83,3648.7759,N,-12158.4617,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173433.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.09 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173432.83,3648.7758,N,-12158.4623,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173434.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173433.83,3648.7758,N,-12158.4629,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.13 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173435.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4074611.11, 591479.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173434.83,3648.7758,N,-12158.4635,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173436.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0139 : LayeredControl _resolvedCommand - vertMode=2 vert=90.15 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav:: Measurement successfully incorporated from time = 890.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 890.00 : 50.00 : Estimated East Bias at time = 890.00 : -15.00 : Estimated Depth Bias at time = 890.00 : -0.74 : Estimated northing and easting = 4074661.11 : 591464.25 : NMEA Update: $GPGGA,173435.83,3648.7758,N,-12158.4641,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173437.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173436.83,3648.7758,N,-12158.4647,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.11 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173438.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173437.83,3648.7759,N,-12158.4653,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173439.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.17 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173438.83,3648.7759,N,-12158.4659,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173440.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.09 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173439.83,3648.7759,N,-12158.4665,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173441.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173440.83,3648.7759,N,-12158.4671,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.12 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173442.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173441.83,3648.7759,N,-12158.4677,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173443.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.13 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173442.83,3648.7759,N,-12158.4683,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173444.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173443.83,3648.7759,N,-12158.4689,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.19 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173445.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4074611.11, 591470.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173444.83,3648.7759,N,-12158.4696,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173446.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.12 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : TerrainNav::Minimum Correlation Error: 0.0092 : TerrainNav:: Measurement successfully incorporated from time = 900.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 900.00 : 50.00 : Estimated East Bias at time = 900.00 : -15.00 : Estimated Depth Bias at time = 900.00 : -0.74 : Estimated northing and easting = 4074661.11 : 591455.23 : NMEA Update: $GPGGA,173445.83,3648.7759,N,-12158.4702,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173447.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.20 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173446.83,3648.7759,N,-12158.4708,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173448.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173447.83,3648.7759,N,-12158.4714,W,1,03,00.5,003.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=90.20 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173449.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173448.83,3648.7759,N,-12158.4720,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173450.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 951.59 Seconds. : The vehicle position is (4074611.2, 591466.0) : LayeredControl _resolvedCommand - vertMode=2 vert=90.22 horzlMode=3 horz=4.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173449.83,3648.7759,N,-12158.4726,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173451.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 952.59 Seconds. : The vehicle position is is (4074611.2, 591465.1) : WaypointHoming has set the state to finished. : WaypointHoming (4074611.2, 591565.1), reached at t = 952.79 (wplog) : Vehicle Position error is (0.0, 100.1) : The distance to the waypoint is -100.1. : LayeredControl::execute() -- (t = 952.794729) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 952.79 (wplog) The current location (N,E) = 4074611.2 , 591464.9 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 116.2 Degrees. : LayeredControl::execute() -- (t = 952.804729) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,173450.83,3648.7759,N,-12158.4732,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.27 horzlMode=3 horz=2.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,173452.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173451.83,3648.7760,N,-12158.4738,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173453.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.30 horzlMode=3 horz=2.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,173452.83,3648.7760,N,-12158.4745,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173454.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 955.79 Seconds. : The vehicle position is (4074611.2, 591462.2) : WaypointHoming has set the state to finished. : WaypointHoming (4074624.4, 591358.6), reached at t = 955.79 (wplog) : Vehicle Position error is (13.2, -103.6) : The distance to the waypoint is -103.6. : LayeredControl::execute() -- (t = 955.804523) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 955.80. : LayeredControl::execute() -- (t = 955.804523) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 955.80 (wplog) The current location (N,E) = 4074611.2 , 591462.2 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 115.6 Degrees. : WaypointHoming: The Usbl has aquired the transponder at t = 955.80 Seconds. : The vehicle position is (4074611.2, 591462.2) : WaypointHoming has set the state to finished. : WaypointHoming (4074624.4, 591358.6), reached at t = 955.81 (wplog) : Vehicle Position error is (13.2, -103.6) : The distance to the waypoint is -103.6. : LayeredControl::execute() -- (t = 955.814522) Behavior waypoint_homing:-1 has changed to state Finished : LayeredControl::execute() -- (t = 955.824522) Behavior ascend:-1 has changed to state Active : CameraDriver::readData - starting a 65 photo sequence. : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173455.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4074611.08, 591461.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173456.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0028 : TerrainNav:: Measurement successfully incorporated from time = 910.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 910.00 : 50.00 : Estimated East Bias at time = 910.00 : -14.00 : Estimated Depth Bias at time = 910.00 : -0.73 : Estimated northing and easting = 4074661.08 : 591447.12 : NMEA Update: $GPGGA,173455.83,3648.7758,N,-12158.4763,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173457.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173456.83,3648.7757,N,-12158.4769,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173458.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173457.83,3648.7756,N,-12158.4775,W,1,03,00.5,003.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173459.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173458.83,3648.7754,N,-12158.4781,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173500.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173459.83,3648.7752,N,-12158.4787,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173501.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173500.83,3648.7750,N,-12158.4793,W,1,03,00.5,003.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173502.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173501.82,3648.7747,N,-12158.4798,W,1,03,00.5,003.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173503.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173502.82,3648.7743,N,-12158.4804,W,1,03,00.5,004.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173504.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173503.82,3648.7739,N,-12158.4809,W,1,03,00.5,004.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173505.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4074606.71, 591452.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173504.82,3648.7735,N,-12158.4814,W,1,03,00.5,004.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173506.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 0.0119 : TerrainNav:: Measurement successfully incorporated from time = 920.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : NMEA Update: $GPGGA,173505.82,3648.7731,N,-12158.4818,W,1,03,00.5,005.2,M,-99.9,M,,*48 : Estimated North Bias at time = 920.00 : 49.00 : Estimated East Bias at time = 920.00 : -14.00 : Estimated Depth Bias at time = 920.00 : -0.74 : Estimated northing and easting = 4074655.71 : 591438.67 : AshtechGps::processRecord() - $GPGGA,173507.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173506.82,3648.7726,N,-12158.4822,W,1,03,00.5,005.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173508.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173507.82,3648.7720,N,-12158.4826,W,1,03,00.5,005.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173509.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173508.82,3648.7714,N,-12158.4828,W,1,03,00.5,006.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173510.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173509.82,3648.7708,N,-12158.4830,W,1,03,00.5,007.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173511.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173510.82,3648.7702,N,-12158.4831,W,1,03,00.5,007.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173512.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173511.82,3648.7696,N,-12158.4831,W,1,03,00.5,007.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173513.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173512.82,3648.7690,N,-12158.4831,W,1,03,00.5,008.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173514.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173513.82,3648.7683,N,-12158.4829,W,1,03,00.5,008.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173515.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4074596.01, 591450.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173514.82,3648.7677,N,-12158.4827,W,1,03,00.5,009.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173516.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 1.1278 : TerrainNav:: Measurement successfully incorporated from time = 930.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : NMEA Update: $GPGGA,173515.82,3648.7671,N,-12158.4823,W,1,03,00.5,009.6,M,-99.9,M,,*4c : Estimated North Bias at time = 930.00 : 49.00 : Estimated East Bias at time = 930.00 : -10.00 : Estimated Depth Bias at time = 930.00 : -0.72 : Estimated northing and easting = 4074645.01 : 591440.65 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173517.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173516.82,3648.7666,N,-12158.4819,W,1,03,00.5,009.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173518.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173517.82,3648.7661,N,-12158.4814,W,1,03,00.5,010.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173519.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173518.82,3648.7656,N,-12158.4808,W,1,03,00.5,010.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173520.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173519.82,3648.7652,N,-12158.4802,W,1,03,00.5,011.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173521.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173520.82,3648.7649,N,-12158.4795,W,1,03,00.5,011.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173522.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173521.82,3648.7646,N,-12158.4788,W,1,03,00.5,011.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173523.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173522.82,3648.7644,N,-12158.4780,W,1,03,00.5,012.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173524.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173523.82,3648.7643,N,-12158.4772,W,1,03,00.5,012.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173525.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4074589.49, 591459.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173524.82,3648.7643,N,-12158.4764,W,1,03,00.5,013.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173526.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 9.4901 : TerrainNav:: Measurement successfully incorporated from time = 940.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,173525.82,3648.7643,N,-12158.4756,W,1,03,00.5,013.4,M,-99.9,M,,*4a : Estimated North Bias at time = 940.00 : 49.00 : Estimated East Bias at time = 940.00 : -8.00 : Estimated Depth Bias at time = 940.00 : -0.72 : Estimated northing and easting = 4074638.49 : 591451.87 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173527.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173526.82,3648.7643,N,-12158.4748,W,1,03,00.5,013.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173528.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173527.82,3648.7645,N,-12158.4740,W,1,03,00.5,014.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173529.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173528.82,3648.7647,N,-12158.4733,W,1,03,00.5,014.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173530.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173529.82,3648.7649,N,-12158.4726,W,1,03,00.5,015.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173531.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173530.82,3648.7653,N,-12158.4719,W,1,03,00.5,015.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173532.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173531.82,3648.7656,N,-12158.4714,W,1,03,00.5,016.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173533.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173532.82,3648.7661,N,-12158.4708,W,1,03,00.5,016.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173534.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173533.82,3648.7665,N,-12158.4704,W,1,03,00.5,016.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173535.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4074594.53, 591469.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,173534.82,3648.7670,N,-12158.4700,W,1,03,00.5,017.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173536.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 13.0292 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 949.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : NMEA Update: $GPGGA,173535.82,3648.7675,N,-12158.4697,W,1,03,00.5,017.9,M,-99.9,M,,*4b : Estimated North Bias at time = 949.99 : 48.00 : Estimated East Bias at time = 949.99 : 12.00 : Estimated Depth Bias at time = 949.99 : -0.56 : Estimated northing and easting = 4074642.53 : 591481.44 : AshtechGps::processRecord() - $GPGGA,173537.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173536.63,3648.7680,N,-12158.4696,W,1,03,00.5,018.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173538.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173537.63,3648.7685,N,-12158.4694,W,1,03,00.5,018.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173539.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173538.63,3648.7691,N,-12158.4694,W,1,03,00.5,018.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173540.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173539.63,3648.7696,N,-12158.4695,W,1,03,00.5,019.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173541.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173540.63,3648.7702,N,-12158.4697,W,1,03,00.5,019.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173542.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173541.63,3648.7707,N,-12158.4699,W,1,03,00.5,020.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173543.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173542.63,3648.7711,N,-12158.4702,W,1,03,00.5,020.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173544.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173543.63,3648.7715,N,-12158.4706,W,1,03,00.5,021.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173545.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173544.63,3648.7719,N,-12158.4711,W,1,03,00.5,021.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4074603.75, 591467.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173546.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 12.4678 : NMEA Update: $GPGGA,173545.63,3648.7722,N,-12158.4716,W,1,03,00.5,022.2,M,-99.9,M,,*45 : TerrainNav:: Measurement successfully incorporated from time = 959.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 959.99 : 49.00 : Estimated East Bias at time = 959.99 : 13.00 : Estimated Depth Bias at time = 959.99 : -0.56 : Estimated northing and easting = 4074652.75 : 591480.90 : AshtechGps::processRecord() - $GPGGA,173547.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173546.63,3648.7725,N,-12158.4722,W,1,03,00.5,022.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173548.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173547.63,3648.7726,N,-12158.4728,W,1,03,00.5,022.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173549.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173548.63,3648.7727,N,-12158.4734,W,1,03,00.5,023.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173550.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173549.63,3648.7728,N,-12158.4741,W,1,03,00.5,023.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173551.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173550.63,3648.7727,N,-12158.4748,W,1,03,00.5,024.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173552.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173551.63,3648.7727,N,-12158.4751,W,1,03,00.5,024.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173553.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173552.63,3648.7726,N,-12158.4757,W,1,03,00.5,024.5,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173554.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173553.63,3648.7723,N,-12158.4764,W,1,03,00.5,025.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173555.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173554.63,3648.7721,N,-12158.4769,W,1,03,00.5,026.4,M,-99.9,M,,*4c : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4074603.90, 591459.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173556.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav::Minimum Correlation Error: 17.5433 : NMEA Update: $GPGGA,173555.63,3648.7717,N,-12158.4775,W,1,03,00.5,026.4,M,-99.9,M,,*45 : TerrainNav:: Measurement successfully incorporated from time = 969.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 969.99 : 49.00 : Estimated East Bias at time = 969.99 : 14.00 : Estimated Depth Bias at time = 969.99 : -0.57 : Estimated northing and easting = 4074652.90 : 591473.14 : AshtechGps::processRecord() - $GPGGA,173557.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173556.63,3648.7713,N,-12158.4780,W,1,03,00.5,026.9,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173558.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173557.63,3648.7708,N,-12158.4784,W,1,03,00.5,027.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173559.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173558.63,3648.7703,N,-12158.4789,W,1,03,00.5,027.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173600.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173559.63,3648.7697,N,-12158.4792,W,1,03,00.5,028.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173601.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173600.63,3648.7692,N,-12158.4795,W,1,03,00.5,028.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173602.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173601.63,3648.7686,N,-12158.4797,W,1,03,00.5,028.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173603.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173602.63,3648.7680,N,-12158.4798,W,1,03,00.5,029.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173604.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173603.63,3648.7673,N,-12158.4799,W,1,03,00.5,029.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173605.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173604.63,3648.7667,N,-12158.4798,W,1,03,00.5,030.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4074593.97, 591454.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173606.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173605.63,3648.7661,N,-12158.4797,W,1,03,00.5,030.6,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 26.8473 : TerrainNav:: Measurement successfully incorporated from time = 980.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 980.00 : 49.00 : Estimated East Bias at time = 980.00 : 14.00 : Estimated Depth Bias at time = 980.00 : -0.58 : Estimated northing and easting = 4074642.97 : 591468.95 : AshtechGps::processRecord() - $GPGGA,173607.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173606.63,3648.7655,N,-12158.4795,W,1,03,00.5,030.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173608.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173607.63,3648.7649,N,-12158.4792,W,1,03,00.5,031.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173609.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173608.63,3648.7644,N,-12158.4788,W,1,03,00.5,031.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173610.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173609.63,3648.7639,N,-12158.4784,W,1,03,00.5,032.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173611.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173610.63,3648.7634,N,-12158.4779,W,1,03,00.5,032.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173612.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173611.63,3648.7630,N,-12158.4773,W,1,03,00.5,032.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173613.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173612.63,3648.7627,N,-12158.4767,W,1,03,00.5,032.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173614.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173613.63,3648.7624,N,-12158.4760,W,1,03,00.5,033.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173615.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173614.63,3648.7622,N,-12158.4753,W,1,03,00.5,034.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4074585.62, 591461.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173616.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173615.63,3648.7620,N,-12158.4746,W,1,03,00.5,034.2,M,-99.9,M,,*42 : TerrainNav::Minimum Correlation Error: 32.6325 : TerrainNav:: Measurement successfully incorporated from time = 990.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 990.00 : 49.00 : Estimated East Bias at time = 990.00 : 12.00 : Estimated Depth Bias at time = 990.00 : -0.62 : Estimated northing and easting = 4074634.62 : 591473.76 : AshtechGps::processRecord() - $GPGGA,173617.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173616.63,3648.7619,N,-12158.4738,W,1,03,00.5,034.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173618.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173617.63,3648.7619,N,-12158.4731,W,1,03,00.5,034.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173619.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173618.63,3648.7620,N,-12158.4723,W,1,03,00.5,035.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173620.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173619.63,3648.7621,N,-12158.4716,W,1,03,00.5,036.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173621.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173620.63,3648.7624,N,-12158.4709,W,1,03,00.5,036.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173622.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173621.63,3648.7626,N,-12158.4702,W,1,03,00.5,036.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173623.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173622.63,3648.7630,N,-12158.4696,W,1,03,00.5,037.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173624.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173623.63,3648.7634,N,-12158.4691,W,1,03,00.5,037.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173625.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173624.63,3648.7638,N,-12158.4686,W,1,03,00.5,038.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4074588.76, 591471.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173626.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173625.63,3648.7643,N,-12158.4682,W,1,03,00.5,038.9,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 30.8283 : TerrainNav:: Measurement successfully incorporated from time = 1000.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1000.00 : 48.00 : Estimated East Bias at time = 1000.00 : 13.00 : Estimated Depth Bias at time = 1000.00 : -0.63 : Estimated northing and easting = 4074636.76 : 591484.71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173627.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173626.63,3648.7648,N,-12158.4679,W,1,03,00.5,039.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173628.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173627.63,3648.7653,N,-12158.4677,W,1,03,00.5,039.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173629.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173628.63,3648.7659,N,-12158.4676,W,1,03,00.5,040.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173630.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173629.63,3648.7664,N,-12158.4675,W,1,03,00.5,040.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173631.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173630.63,3648.7670,N,-12158.4676,W,1,03,00.5,040.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173632.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173631.63,3648.7675,N,-12158.4677,W,1,03,00.5,041.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173633.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173632.63,3648.7681,N,-12158.4679,W,1,03,00.5,042.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173634.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173633.63,3648.7686,N,-12158.4682,W,1,03,00.5,042.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173635.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173634.63,3648.7690,N,-12158.4687,W,1,03,00.5,043.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4074598.46, 591471.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173636.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173635.63,3648.7695,N,-12158.4692,W,1,03,00.5,043.0,M,-99.9,M,,*44 : TerrainNav::Minimum Correlation Error: 30.3422 : TerrainNav:: Measurement successfully incorporated from time = 1010.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1010.00 : 49.00 : Estimated East Bias at time = 1010.00 : 13.00 : Estimated Depth Bias at time = 1010.00 : -0.64 : Estimated northing and easting = 4074647.46 : 591484.51 : AshtechGps::processRecord() - $GPGGA,173637.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173636.63,3648.7698,N,-12158.4698,W,1,03,00.5,044.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173638.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173637.63,3648.7702,N,-12158.4704,W,1,03,00.5,043.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173639.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173638.63,3648.7704,N,-12158.4711,W,1,03,00.5,044.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173640.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173639.63,3648.7706,N,-12158.4717,W,1,03,00.5,046.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173641.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173640.63,3648.7707,N,-12158.4724,W,1,03,00.5,045.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173642.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173641.63,3648.7707,N,-12158.4731,W,1,03,00.5,046.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173643.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173642.63,3648.7707,N,-12158.4738,W,1,03,00.5,046.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173644.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173643.63,3648.7706,N,-12158.4746,W,1,03,00.5,047.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173645.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173644.63,3648.7704,N,-12158.4753,W,1,03,00.5,047.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4074600.94, 591461.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173646.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173645.63,3648.7702,N,-12158.4761,W,1,03,00.5,047.7,M,-99.9,M,,*42 : TerrainNav::Minimum Correlation Error: 37.2017 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1020.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1020.00 : 49.00 : Estimated East Bias at time = 1020.00 : 14.00 : Estimated Depth Bias at time = 1020.00 : -0.65 : Estimated northing and easting = 4074649.94 : 591475.56 : AshtechGps::processRecord() - $GPGGA,173647.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173646.63,3648.7699,N,-12158.4768,W,1,03,00.5,048.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173648.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173647.63,3648.7695,N,-12158.4774,W,1,03,00.5,048.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173649.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173648.63,3648.7691,N,-12158.4779,W,1,03,00.5,048.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173650.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173649.63,3648.7686,N,-12158.4783,W,1,03,00.5,049.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173651.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173650.63,3648.7681,N,-12158.4787,W,1,03,00.5,049.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173652.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173651.63,3648.7676,N,-12158.4789,W,1,03,00.5,049.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173653.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173652.63,3648.7670,N,-12158.4792,W,1,03,00.5,050.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173654.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173653.63,3648.7664,N,-12158.4793,W,1,03,00.5,050.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173655.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173654.63,3648.7658,N,-12158.4795,W,1,03,00.5,051.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4074592.32, 591455.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173656.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173655.63,3648.7652,N,-12158.4796,W,1,03,00.5,051.3,M,-99.9,M,,*4c : TerrainNav::Minimum Correlation Error: 39.6314 : TerrainNav:: Measurement successfully incorporated from time = 1030.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1030.00 : 32.00 : Estimated East Bias at time = 1030.00 : 24.00 : Estimated Depth Bias at time = 1030.00 : -0.66 : Estimated northing and easting = 4074624.32 : 591479.48 : AshtechGps::processRecord() - $GPGGA,173657.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173656.63,3648.7646,N,-12158.4796,W,1,03,00.5,051.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173658.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173657.63,3648.7641,N,-12158.4794,W,1,03,00.5,052.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173659.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173658.63,3648.7635,N,-12158.4792,W,1,03,00.5,051.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173700.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173659.63,3648.7629,N,-12158.4788,W,1,03,00.5,052.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173701.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173700.63,3648.7624,N,-12158.4783,W,1,03,00.5,053.3,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173702.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173701.63,3648.7620,N,-12158.4777,W,1,03,00.5,053.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173703.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173702.63,3648.7616,N,-12158.4771,W,1,03,00.5,054.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173704.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173703.63,3648.7613,N,-12158.4765,W,1,03,00.5,054.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173705.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173704.63,3648.7610,N,-12158.4759,W,1,03,00.5,054.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4074583.54, 591460.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173706.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173705.63,3648.7609,N,-12158.4752,W,1,03,00.5,055.3,M,-99.9,M,,*4a : TerrainNav::Minimum Correlation Error: 44.4632 : TerrainNav:: Measurement successfully incorporated from time = 1040.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1040.00 : 32.00 : Estimated East Bias at time = 1040.00 : 24.00 : Estimated Depth Bias at time = 1040.00 : -0.67 : Estimated northing and easting = 4074615.54 : 591484.97 : AshtechGps::processRecord() - $GPGGA,173707.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173706.63,3648.7608,N,-12158.4746,W,1,03,00.5,055.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173708.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173707.63,3648.7608,N,-12158.4739,W,1,03,00.5,055.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173709.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173708.63,3648.7608,N,-12158.4732,W,1,03,00.5,056.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173710.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173709.63,3648.7609,N,-12158.4725,W,1,03,00.5,056.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173711.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173710.63,3648.7611,N,-12158.4718,W,1,03,00.5,057.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173712.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173711.63,3648.7614,N,-12158.4711,W,1,03,00.5,058.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,173713.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173712.63,3648.7617,N,-12158.4704,W,1,03,00.5,057.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173714.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173713.63,3648.7620,N,-12158.4698,W,1,03,00.5,058.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173715.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173714.63,3648.7625,N,-12158.4693,W,1,03,00.5,059.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4074586.34, 591470.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173716.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173715.63,3648.7630,N,-12158.4690,W,1,03,00.5,058.3,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 30.6864 : TerrainNav:: Measurement successfully incorporated from time = 1050.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1050.00 : 32.00 : Estimated East Bias at time = 1050.00 : 24.00 : Estimated Depth Bias at time = 1050.00 : -0.68 : Estimated northing and easting = 4074618.34 : 591494.63 : AshtechGps::processRecord() - $GPGGA,173717.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173716.63,3648.7635,N,-12158.4687,W,1,03,00.5,059.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173718.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173717.63,3648.7641,N,-12158.4685,W,1,03,00.5,060.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173719.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173718.63,3648.7647,N,-12158.4683,W,1,03,00.5,059.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173720.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173719.63,3648.7652,N,-12158.4683,W,1,03,00.5,061.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173721.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173720.63,3648.7658,N,-12158.4683,W,1,03,00.5,061.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173722.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173721.63,3648.7663,N,-12158.4684,W,1,03,00.5,062.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173723.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173722.63,3648.7669,N,-12158.4687,W,1,03,00.5,062.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173724.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173723.63,3648.7674,N,-12158.4690,W,1,03,00.5,063.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173725.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173724.63,3648.7679,N,-12158.4694,W,1,03,00.5,063.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4074596.42, 591470.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,173726.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 36.6401 : NMEA Update: $GPGGA,173725.63,3648.7684,N,-12158.4699,W,1,03,00.5,065.6,M,-99.9,M,,*4d : TerrainNav:: Measurement successfully incorporated from time = 1060.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1060.00 : 32.00 : Estimated East Bias at time = 1060.00 : 24.00 : Estimated Depth Bias at time = 1060.00 : -0.69 : Estimated northing and easting = 4074628.42 : 591494.38 : AshtechGps::processRecord() - $GPGGA,173727.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173726.63,3648.7688,N,-12158.4704,W,1,03,00.5,065.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173728.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173727.62,3648.7691,N,-12158.4710,W,1,03,00.5,066.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173729.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173728.62,3648.7693,N,-12158.4717,W,1,03,00.5,067.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173730.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173729.62,3648.7694,N,-12158.4723,W,1,03,00.5,067.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173731.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173730.62,3648.7695,N,-12158.4730,W,1,03,00.5,067.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173732.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173731.62,3648.7695,N,-12158.4737,W,1,03,00.5,067.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173733.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,173732.62,3648.7694,N,-12158.4745,W,1,03,00.5,069.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173734.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173733.62,3648.7693,N,-12158.4752,W,1,03,00.5,070.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173735.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173734.62,3648.7691,N,-12158.4758,W,1,03,00.5,069.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4074598.51, 591460.88) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,173736.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 21.6540 : NMEA Update: $GPGGA,173735.62,3648.7688,N,-12158.4763,W,1,03,00.5,069.5,M,-99.9,M,,*4a : TerrainNav:: Measurement successfully incorporated from time = 1070.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1070.00 : 32.00 : Estimated East Bias at time = 1070.00 : 24.00 : Estimated Depth Bias at time = 1070.00 : -0.69 : Estimated northing and easting = 4074630.51 : 591484.88 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173737.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173736.62,3648.7684,N,-12158.4767,W,1,03,00.5,069.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173738.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173737.62,3648.7679,N,-12158.4770,W,1,03,00.5,069.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173739.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173738.62,3648.7674,N,-12158.4773,W,1,03,00.5,071.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173740.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173739.62,3648.7668,N,-12158.4776,W,1,03,00.5,070.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173741.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173740.62,3648.7662,N,-12158.4779,W,1,03,00.5,071.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173742.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173741.62,3648.7657,N,-12158.4781,W,1,03,00.5,071.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173743.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173742.62,3648.7650,N,-12158.4782,W,1,03,00.5,071.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173744.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173743.62,3648.7644,N,-12158.4782,W,1,03,00.5,072.3,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173745.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173744.62,3648.7637,N,-12158.4780,W,1,03,00.5,072.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4074588.49, 591457.67) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,173746.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 29.1315 : NMEA Update: $GPGGA,173745.62,3648.7631,N,-12158.4778,W,1,03,00.5,072.2,M,-99.9,M,,*48 : TerrainNav:: Measurement successfully incorporated from time = 1080.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1080.00 : 31.00 : Estimated East Bias at time = 1080.00 : 24.00 : Estimated Depth Bias at time = 1080.00 : -0.70 : Estimated northing and easting = 4074619.49 : 591481.67 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173747.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173746.62,3648.7624,N,-12158.4774,W,1,03,00.5,072.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173748.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173747.62,3648.7618,N,-12158.4768,W,1,03,00.5,074.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173749.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173748.62,3648.7613,N,-12158.4761,W,1,03,00.5,074.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173750.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173749.62,3648.7607,N,-12158.4754,W,1,03,00.5,075.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173751.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173750.62,3648.7603,N,-12158.4746,W,1,03,00.5,074.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173752.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173751.62,3648.7600,N,-12158.4739,W,1,03,00.5,074.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173753.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173752.62,3648.7596,N,-12158.4732,W,1,03,00.5,075.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173753.62,3648.7594,N,-12158.4726,W,1,03,00.5,076.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173755.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,173754.62,3648.7592,N,-12158.4720,W,1,03,00.5,076.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4074580.19, 591466.82) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,173756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav::Minimum Correlation Error: 28.7429 : NMEA Update: $GPGGA,173755.62,3648.7591,N,-12158.4713,W,1,03,00.5,075.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav:: Measurement successfully incorporated from time = 1090.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1090.00 : 32.00 : Estimated East Bias at time = 1090.00 : 25.00 : Estimated Depth Bias at time = 1090.00 : -0.69 : Estimated northing and easting = 4074612.19 : 591491.82 : AshtechGps::processRecord() - $GPGGA,173757.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173756.62,3648.7590,N,-12158.4704,W,1,03,00.5,074.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,173758.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173757.62,3648.7589,N,-12158.4693,W,1,03,00.5,076.9,M,-99.9,M,,*40 : LayeredControl::execute() -- (t = 1140.391878) Behavior ascend:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,173759.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 1140.591864) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1140.591864) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 1140.591864) Behavior missionTimer:-1 has changed to state Active : NMEA Update: $GPGGA,173758.62,3648.7590,N,-12158.4680,W,1,03,00.5,080.0,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,173800.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173759.62,3648.7591,N,-12158.4669,W,1,03,00.5,080.4,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,173801.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173800.62,3648.7594,N,-12158.4663,W,1,03,00.5,080.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173802.00,,,,,0,00,,,M,,M,,*47 : 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,173801.62,3648.7597,N,-12158.4657,W,1,03,00.5,079.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173803.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173802.43,3648.7600,N,-12158.4652,W,1,03,00.5,082.1,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,173804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173803.43,3648.7603,N,-12158.4646,W,1,03,00.5,078.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,173805.00,,,,,0,00,,,M,,M,,*40 : 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,173804.43,3648.7605,N,-12158.4642,W,1,03,00.5,079.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4074582.89, 591478.46) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,173806.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173805.43,3648.7607,N,-12158.4638,W,1,03,00.5,079.0,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 43.8256 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav:: Measurement successfully incorporated from time = 1099.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1099.99 : 31.00 : Estimated East Bias at time = 1099.99 : 25.00 : Estimated Depth Bias at time = 1099.99 : -0.70 : Estimated northing and easting = 4074613.89 : 591503.46 : AshtechGps::processRecord() - $GPGGA,173807.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173806.43,3648.7609,N,-12158.4633,W,1,03,00.5,081.7,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,173808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173807.43,3648.7610,N,-12158.4629,W,1,03,00.5,079.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173809.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173808.43,3648.7612,N,-12158.4623,W,1,03,00.5,081.5,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,173810.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,173809.43,3648.7615,N,-12158.4618,W,1,03,00.5,081.2,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,173811.00,3648.74781,N,12158.46620,W,1,06,1.9,-1.19,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173810.43,3648.7479,N,-12158.4661,W,1,03,00.5,081.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173812.00,3648.74790,N,12158.46582,W,1,06,1.9,-2.36,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,173811.43,3648.7479,N,-12158.4658,W,1,03,00.5,080.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173813.00,3648.74800,N,12158.46494,W,1,06,1.9,-2.18,M,-32.92,M,,*78 : NMEA Update: $GPGGA,173812.43,3648.7480,N,-12158.4649,W,1,03,00.5,080.8,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,173814.00,3648.74816,N,12158.46487,W,1,06,1.9,-2.11,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173813.43,3648.7482,N,-12158.4648,W,1,03,00.5,081.7,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,173815.00,3648.74820,N,12158.46469,W,1,06,1.9,-1.39,M,-32.92,M,,*7E : NMEA Update: $GPGGA,173814.43,3648.7482,N,-12158.4647,W,1,03,00.5,077.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4074560.08, 591477.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173816.00,3648.74840,N,12158.46455,W,1,06,1.9,-1.29,M,-32.92,M,,*75 : NMEA Update: $GPGGA,173815.43,3648.7484,N,-12158.4645,W,1,03,00.5,080.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 43.4580 : AshtechGps::processRecord() - $GPGGA,173817.00,3648.74856,N,12158.46435,W,1,06,1.9,-1.15,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173816.43,3648.7486,N,-12158.4643,W,1,03,00.5,080.5,M,-99.9,M,,*4f : TerrainNav:: Measurement successfully incorporated from time = 1109.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1109.99 : 32.00 : Estimated East Bias at time = 1109.99 : 26.00 : Estimated Depth Bias at time = 1109.99 : -0.69 : Estimated northing and easting = 4074592.08 : 591503.86 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173818.00,3648.74870,N,12158.46401,W,1,06,1.9,-0.77,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173817.43,3648.7487,N,-12158.4640,W,1,03,00.5,078.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173819.00,3648.74884,N,12158.46374,W,1,06,1.9,-0.45,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,173818.43,3648.7489,N,-12158.4637,W,1,03,00.5,081.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173820.00,3648.74899,N,12158.46324,W,1,06,1.9,-0.34,M,-32.92,M,,*78 : NMEA Update: $GPGGA,173819.43,3648.7490,N,-12158.4632,W,1,03,00.5,080.5,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,173821.00,3648.74908,N,12158.46281,W,1,06,1.9,-0.39,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173820.43,3648.7491,N,-12158.4627,W,1,03,00.5,080.5,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,173822.00,3648.74922,N,12158.46233,W,1,06,1.9,-0.66,M,-32.92,M,,*7B : NMEA Update: $GPGGA,173821.43,3648.7492,N,-12158.4622,W,1,03,00.5,081.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173823.00,3648.74943,N,12158.46209,W,1,07,1.2,-1.23,M,-32.92,M,,*7E : NMEA Update: $GPGGA,173822.43,3648.7495,N,-12158.4620,W,1,03,00.5,081.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173824.00,3648.74951,N,12158.46191,W,1,07,1.2,-1.63,M,-32.92,M,,*7C : NMEA Update: $GPGGA,173823.43,3648.7495,N,-12158.4619,W,1,03,00.5,080.5,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,173825.00,3648.74970,N,12158.46197,W,1,07,1.2,-1.23,M,-32.92,M,,*7C : NMEA Update: $GPGGA,173824.43,3648.7497,N,-12158.4620,W,1,03,00.5,079.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 1119.993275 : TerrainNav update at dvl time = 1119.993275 : _navData-> (x,y) = (4074562.88, 591481.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173826.00,3648.74980,N,12158.46179,W,1,07,1.2,-0.46,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,173825.43,3648.7498,N,-12158.4618,W,1,03,00.5,080.2,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 54.8304 : TerrainNav:: Measurement successfully incorporated from time = 1119.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1119.99 : 31.00 : Estimated East Bias at time = 1119.99 : 26.00 : Estimated Depth Bias at time = 1119.99 : -0.71 : Estimated northing and easting = 4074593.88 : 591507.81 : AshtechGps::processRecord() - $GPGGA,173827.00,3648.74985,N,12158.46139,W,1,07,1.2,-0.41,M,-32.92,M,,*75 : NMEA Update: $GPGGA,173826.43,3648.7499,N,-12158.4613,W,1,03,00.5,080.7,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,173828.00,3648.74993,N,12158.46113,W,1,07,1.2,-0.67,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173827.43,3648.7499,N,-12158.4611,W,1,03,00.5,079.5,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,173829.00,3648.74969,N,12158.46061,W,1,07,1.2,-1.24,M,-32.92,M,,*77 : NMEA Update: $GPGGA,173828.43,3648.7497,N,-12158.4606,W,1,03,00.5,081.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173830.00,3648.74980,N,12158.46035,W,1,07,1.2,-1.49,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173829.43,3648.7498,N,-12158.4603,W,1,03,00.5,080.5,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,173831.00,3648.75004,N,12158.46007,W,1,07,1.2,-1.50,M,-32.92,M,,*7E : NMEA Update: $GPGGA,173830.43,3648.7501,N,-12158.4600,W,1,03,00.5,080.7,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,173832.00,3648.75021,N,12158.45996,W,1,07,1.2,-1.75,M,-32.92,M,,*7F : NMEA Update: $GPGGA,173831.43,3648.7502,N,-12158.4599,W,1,03,00.5,080.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173833.00,3648.75027,N,12158.45975,W,1,07,1.2,-1.68,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,173832.43,3648.7503,N,-12158.4597,W,1,03,00.5,079.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173834.00,3648.75009,N,12158.45942,W,1,08,1.1,-1.43,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173833.43,3648.7501,N,-12158.4594,W,1,03,00.5,080.0,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,173835.00,3648.75017,N,12158.45924,W,1,08,1.1,-1.88,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173834.43,3648.7502,N,-12158.4592,W,1,03,00.5,080.4,M,-99.9,M,,*4c : TerrainNav update at nav time = 1130.002590 : TerrainNav update at dvl time = 1130.002590 : _navData-> (x,y) = (4074563.73, 591485.99) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 46.0497 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173836.00,3648.75030,N,12158.45935,W,1,08,1.1,-2.13,M,-32.92,M,,*7D : NMEA Update: $GPGGA,173835.43,3648.7503,N,-12158.4594,W,1,03,00.5,080.2,M,-99.9,M,,*4c : TerrainNav:: Measurement successfully incorporated from time = 1130.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1130.00 : 29.00 : Estimated East Bias at time = 1130.00 : 25.00 : Estimated Depth Bias at time = 1130.00 : -0.74 : Estimated northing and easting = 4074592.73 : 591510.99 : AshtechGps::processRecord() - $GPGGA,173837.00,3648.75049,N,12158.45936,W,1,08,1.1,-2.01,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173836.43,3648.7505,N,-12158.4594,W,1,03,00.5,077.6,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,173838.00,3648.75068,N,12158.45936,W,1,08,1.1,-1.64,M,-32.92,M,,*7E : NMEA Update: $GPGGA,173837.43,3648.7507,N,-12158.4594,W,1,03,00.5,080.6,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,173839.00,3648.75068,N,12158.45890,W,1,08,1.1,-1.23,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173838.43,3648.7507,N,-12158.4589,W,1,03,00.5,079.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173840.00,3648.75065,N,12158.45868,W,1,08,1.1,-0.88,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,173839.43,3648.7506,N,-12158.4586,W,1,03,00.5,079.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173841.00,3648.75058,N,12158.45807,W,1,08,1.1,-0.77,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173840.43,3648.7506,N,-12158.4580,W,1,03,00.5,079.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,173842.00,3648.75064,N,12158.45789,W,1,08,1.1,-1.08,M,-32.92,M,,*7F : NMEA Update: $GPGGA,173841.43,3648.7506,N,-12158.4578,W,1,03,00.5,082.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173843.00,3648.75062,N,12158.45750,W,1,08,1.1,-1.38,M,-32.92,M,,*7F : NMEA Update: $GPGGA,173842.43,3648.7506,N,-12158.4575,W,1,03,00.5,081.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,173844.00,3648.75077,N,12158.45772,W,1,08,1.1,-1.72,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173843.43,3648.7508,N,-12158.4577,W,1,03,00.5,081.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173845.00,3648.75097,N,12158.45764,W,1,08,1.1,-1.58,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173844.43,3648.7510,N,-12158.4577,W,1,03,00.5,076.7,M,-99.9,M,,*49 : TerrainNav update at nav time = 1140.001905 : TerrainNav update at dvl time = 1140.001905 : _navData-> (x,y) = (4074565.31, 591488.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173846.00,3648.75108,N,12158.45777,W,1,08,1.1,-1.31,M,-32.92,M,,*7B : NMEA Update: $GPGGA,173845.43,3648.7511,N,-12158.4578,W,1,03,00.5,084.4,M,-99.9,M,,*48 : TerrainNav::Minimum Correlation Error: 99.1025 : TerrainNav:: Measurement successfully incorporated from time = 1140.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1140.00 : 29.00 : Estimated East Bias at time = 1140.00 : 25.00 : Estimated Depth Bias at time = 1140.00 : -0.75 : Estimated northing and easting = 4074594.31 : 591513.23 : AshtechGps::processRecord() - $GPGGA,173847.00,3648.75105,N,12158.45741,W,1,08,1.1,-0.80,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,173846.43,3648.7511,N,-12158.4574,W,1,03,00.5,080.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173848.00,3648.75101,N,12158.45708,W,1,08,1.1,-0.63,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173847.43,3648.7510,N,-12158.4570,W,1,03,00.5,079.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173849.00,3648.75096,N,12158.45676,W,1,08,1.1,-0.79,M,-32.92,M,,*7F : NMEA Update: $GPGGA,173848.43,3648.7510,N,-12158.4567,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=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173850.00,3648.75095,N,12158.45661,W,1,08,1.1,-0.87,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173849.43,3648.7510,N,-12158.4566,W,1,03,00.5,079.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173851.00,3648.75098,N,12158.45640,W,1,08,1.1,-0.76,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173850.43,3648.7510,N,-12158.4564,W,1,03,00.5,079.3,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,173852.00,3648.75098,N,12158.45617,W,1,08,1.1,-0.81,M,-32.92,M,,*7B : NMEA Update: $GPGGA,173851.43,3648.7510,N,-12158.4561,W,1,03,00.5,080.3,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,173853.00,3648.75101,N,12158.45594,W,1,08,1.1,-1.32,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173852.43,3648.7510,N,-12158.4559,W,1,03,00.5,080.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173854.00,3648.75110,N,12158.45603,W,1,08,1.1,-1.50,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,173853.43,3648.7511,N,-12158.4560,W,1,03,00.5,079.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173855.00,3648.75121,N,12158.45594,W,1,08,1.1,-1.36,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173854.43,3648.7512,N,-12158.4559,W,1,03,00.5,079.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4074565.75, 591490.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 51.1657 : AshtechGps::processRecord() - $GPGGA,173856.00,3648.75122,N,12158.45566,W,1,08,1.1,-1.07,M,-32.92,M,,*75 : NMEA Update: $GPGGA,173855.43,3648.7512,N,-12158.4556,W,1,03,00.5,080.9,M,-99.9,M,,*4f : TerrainNav:: Measurement successfully incorporated from time = 1150.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1150.00 : 29.00 : Estimated East Bias at time = 1150.00 : 25.00 : Estimated Depth Bias at time = 1150.00 : -0.76 : Estimated northing and easting = 4074594.75 : 591515.78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173857.00,3648.75125,N,12158.45540,W,1,08,1.1,-1.06,M,-32.92,M,,*76 : NMEA Update: $GPGGA,173856.43,3648.7512,N,-12158.4553,W,1,03,00.5,080.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173858.00,3648.75123,N,12158.45519,W,1,08,1.1,-1.03,M,-32.92,M,,*76 : NMEA Update: $GPGGA,173857.43,3648.7512,N,-12158.4552,W,1,03,00.5,079.7,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,173859.00,3648.75126,N,12158.45519,W,1,08,1.1,-1.16,M,-32.92,M,,*76 : NMEA Update: $GPGGA,173858.43,3648.7513,N,-12158.4552,W,1,03,00.5,079.6,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,173900.00,3648.75132,N,12158.45525,W,1,08,1.1,-1.27,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173859.43,3648.7513,N,-12158.4553,W,1,03,00.5,079.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,173901.00,3648.75134,N,12158.45518,W,1,08,1.1,-0.81,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,173900.43,3648.7513,N,-12158.4552,W,1,03,00.5,080.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,173902.00,3648.75136,N,12158.45486,W,1,08,1.1,-0.48,M,-32.92,M,,*75 : NMEA Update: $GPGGA,173901.43,3648.7514,N,-12158.4548,W,1,03,00.5,079.6,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,173903.00,3648.75132,N,12158.45438,W,1,08,1.1,-0.49,M,-32.92,M,,*74 : NMEA Update: $GPGGA,173902.43,3648.7513,N,-12158.4543,W,1,03,00.5,079.6,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,173904.00,3648.75132,N,12158.45408,W,1,08,1.1,-0.66,M,-32.92,M,,*7D : NMEA Update: $GPGGA,173903.43,3648.7513,N,-12158.4540,W,1,03,00.5,081.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173905.00,3648.75140,N,12158.45370,W,1,08,1.1,-1.30,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173904.43,3648.7514,N,-12158.4536,W,1,03,00.5,079.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4074566.12, 591494.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,173906.00,3648.75150,N,12158.45391,W,1,08,1.1,-1.70,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173905.43,3648.7515,N,-12158.4539,W,1,03,00.5,079.1,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 55.0112 : TerrainNav:: Measurement successfully incorporated from time = 1160.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1160.00 : 27.00 : Estimated East Bias at time = 1160.00 : 24.00 : Estimated Depth Bias at time = 1160.00 : -0.79 : Estimated northing and easting = 4074593.12 : 591518.20 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173907.00,3648.75152,N,12158.45383,W,1,08,1.1,-1.55,M,-32.92,M,,*7D : NMEA Update: $GPGGA,173906.43,3648.7515,N,-12158.4539,W,1,03,00.5,080.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,173908.00,3648.75156,N,12158.45396,W,1,08,1.1,-1.42,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,173907.43,3648.7516,N,-12158.4540,W,1,03,00.5,081.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173909.00,3648.75147,N,12158.45376,W,1,08,1.1,-1.15,M,-32.92,M,,*79 : NMEA Update: $GPGGA,173908.43,3648.7515,N,-12158.4537,W,1,03,00.5,079.0,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,173910.00,3648.75140,N,12158.45381,W,1,08,1.1,-1.01,M,-32.92,M,,*7B : NMEA Update: $GPGGA,173909.43,3648.7514,N,-12158.4538,W,1,03,00.5,081.2,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,173911.00,3648.75133,N,12158.45344,W,1,08,1.1,-0.60,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173910.43,3648.7513,N,-12158.4534,W,1,03,00.5,079.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,173912.00,3648.75131,N,12158.45309,W,1,08,1.1,-0.35,M,-32.92,M,,*79 : NMEA Update: $GPGGA,173911.43,3648.7513,N,-12158.4530,W,1,03,00.5,082.0,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,173913.00,3648.75126,N,12158.45267,W,1,08,1.1,-0.76,M,-32.92,M,,*70 : NMEA Update: $GPGGA,173912.43,3648.7513,N,-12158.4526,W,1,03,00.5,080.0,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,173914.00,3648.75128,N,12158.45251,W,1,08,1.1,-0.98,M,-32.92,M,,*7C : NMEA Update: $GPGGA,173913.43,3648.7513,N,-12158.4525,W,1,03,00.5,079.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,173915.00,3648.75136,N,12158.45214,W,1,08,1.1,-1.01,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,173914.43,3648.7514,N,-12158.4521,W,1,03,00.5,080.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4074566.08, 591496.47) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 42.2973 : AshtechGps::processRecord() - $GPGGA,173916.00,3648.75151,N,12158.45199,W,1,08,1.1,-1.59,M,-32.92,M,,*7B : NMEA Update: $GPGGA,173915.43,3648.7515,N,-12158.4519,W,1,03,00.5,081.7,M,-99.9,M,,*49 : TerrainNav:: Measurement successfully incorporated from time = 1170.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1170.00 : 27.00 : Estimated East Bias at time = 1170.00 : 24.00 : Estimated Depth Bias at time = 1170.00 : -0.80 : Estimated northing and easting = 4074593.08 : 591520.47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173917.00,3648.75157,N,12158.45218,W,1,08,1.1,-1.88,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173916.43,3648.7516,N,-12158.4522,W,1,03,00.5,079.6,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,173918.00,3648.75157,N,12158.45238,W,1,08,1.1,-1.40,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173917.43,3648.7516,N,-12158.4525,W,1,03,00.5,074.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173919.00,3648.75175,N,12158.45187,W,1,08,1.1,-1.94,M,-32.92,M,,*7C : NMEA Update: $GPGGA,173918.43,3648.7517,N,-12158.4518,W,1,03,00.5,078.9,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,173920.00,3648.75158,N,12158.45137,W,1,08,1.1,-1.57,M,-32.92,M,,*7D : NMEA Update: $GPGGA,173919.43,3648.7516,N,-12158.4513,W,1,03,00.5,081.8,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,173921.00,3648.75138,N,12158.45119,W,1,08,1.1,-1.71,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173920.43,3648.7514,N,-12158.4511,W,1,03,00.5,079.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173922.00,3648.75131,N,12158.45105,W,1,08,1.1,-1.38,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,173921.43,3648.7513,N,-12158.4511,W,1,03,00.5,081.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,173923.00,3648.75130,N,12158.45089,W,1,08,1.1,-1.13,M,-32.92,M,,*74 : NMEA Update: $GPGGA,173922.43,3648.7513,N,-12158.4509,W,1,03,00.5,081.2,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,173924.00,3648.75134,N,12158.45077,W,1,08,1.1,-1.30,M,-32.92,M,,*77 : NMEA Update: $GPGGA,173923.43,3648.7514,N,-12158.4507,W,1,03,00.5,081.3,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,173925.00,3648.75129,N,12158.45061,W,1,08,1.1,-1.04,M,-32.92,M,,*7A : NMEA Update: $GPGGA,173924.43,3648.7513,N,-12158.4506,W,1,03,00.5,078.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4074565.92, 591498.72) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 51.8988 : AshtechGps::processRecord() - $GPGGA,173926.00,3648.75132,N,12158.45055,W,1,08,1.1,-1.10,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173925.43,3648.7513,N,-12158.4505,W,1,03,00.5,080.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav:: Measurement successfully incorporated from time = 1180.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1180.00 : 27.00 : Estimated East Bias at time = 1180.00 : 24.00 : Estimated Depth Bias at time = 1180.00 : -0.81 : Estimated northing and easting = 4074592.92 : 591522.72 : AshtechGps::processRecord() - $GPGGA,173927.00,3648.75135,N,12158.45038,W,1,08,1.1,-1.04,M,-32.92,M,,*79 : NMEA Update: $GPGGA,173926.43,3648.7514,N,-12158.4504,W,1,03,00.5,080.1,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,173928.00,3648.75140,N,12158.45030,W,1,08,1.1,-1.08,M,-32.92,M,,*70 : NMEA Update: $GPGGA,173927.43,3648.7514,N,-12158.4503,W,1,03,00.5,080.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,173929.00,3648.75137,N,12158.44992,W,1,08,1.1,-0.86,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,173928.43,3648.7514,N,-12158.4499,W,1,03,00.5,080.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173930.00,3648.75131,N,12158.44966,W,1,08,1.1,-1.01,M,-32.92,M,,*7D : NMEA Update: $GPGGA,173929.43,3648.7513,N,-12158.4496,W,1,03,00.5,080.9,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,173931.00,3648.75121,N,12158.44948,W,1,08,1.1,-1.30,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173930.43,3648.7512,N,-12158.4494,W,1,03,00.5,080.2,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,173932.00,3648.75115,N,12158.44949,W,1,08,1.1,-1.53,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173931.43,3648.7511,N,-12158.4495,W,1,03,00.5,081.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,173933.00,3648.75111,N,12158.44954,W,1,08,1.1,-1.19,M,-32.92,M,,*74 : NMEA Update: $GPGGA,173932.43,3648.7511,N,-12158.4495,W,1,03,00.5,079.6,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,173934.00,3648.75116,N,12158.44942,W,1,08,1.1,-0.56,M,-32.92,M,,*79 : NMEA Update: $GPGGA,173933.43,3648.7511,N,-12158.4494,W,1,03,00.5,079.2,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,173935.00,3648.75107,N,12158.44879,W,1,08,1.1,-0.28,M,-32.92,M,,*78 : NMEA Update: $GPGGA,173934.43,3648.7511,N,-12158.4487,W,1,03,00.5,080.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4074565.54, 591501.55) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,173936.00,3648.75113,N,12158.44861,W,1,08,1.1,-0.76,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,173935.43,3648.7511,N,-12158.4485,W,1,03,00.5,078.9,M,-99.9,M,,*43 : TerrainNav::Minimum Correlation Error: 73.6403 : TerrainNav:: Measurement successfully incorporated from time = 1190.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1190.00 : 28.00 : Estimated East Bias at time = 1190.00 : 24.00 : Estimated Depth Bias at time = 1190.00 : -0.81 : Estimated northing and easting = 4074593.54 : 591525.55 : AshtechGps::processRecord() - $GPGGA,173937.00,3648.75114,N,12158.44849,W,1,08,1.1,-0.99,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173936.43,3648.7512,N,-12158.4485,W,1,03,00.5,083.6,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,173938.00,3648.75116,N,12158.44850,W,1,08,1.1,-0.80,M,-32.92,M,,*7C : NMEA Update: $GPGGA,173937.43,3648.7512,N,-12158.4485,W,1,03,00.5,079.6,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173939.00,3648.75113,N,12158.44843,W,1,08,1.1,-0.72,M,-32.92,M,,*77 : NMEA Update: $GPGGA,173938.43,3648.7511,N,-12158.4484,W,1,03,00.5,079.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173940.00,3648.75098,N,12158.44805,W,1,08,1.1,-0.45,M,-32.92,M,,*7D : NMEA Update: $GPGGA,173939.43,3648.7510,N,-12158.4480,W,1,03,00.5,079.1,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,173941.00,3648.75091,N,12158.44781,W,1,08,1.1,-0.87,M,-32.92,M,,*78 : NMEA Update: $GPGGA,173940.43,3648.7509,N,-12158.4477,W,1,03,00.5,081.9,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,173942.00,3648.75096,N,12158.44790,W,1,08,1.1,-1.23,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173941.43,3648.7510,N,-12158.4478,W,1,03,00.5,078.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173943.00,3648.75096,N,12158.44784,W,1,08,1.1,-0.59,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,173942.43,3648.7510,N,-12158.4479,W,1,03,00.5,080.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,173944.00,3648.75086,N,12158.44742,W,1,08,1.1,-0.15,M,-32.92,M,,*7F : NMEA Update: $GPGGA,173943.43,3648.7508,N,-12158.4473,W,1,03,00.5,081.3,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,173945.00,3648.75076,N,12158.44695,W,1,08,1.1,-0.17,M,-32.92,M,,*78 : NMEA Update: $GPGGA,173944.43,3648.7507,N,-12158.4469,W,1,03,00.5,080.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4074564.96, 591504.30) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 84.7289 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173946.00,3648.75072,N,12158.44659,W,1,08,1.1,-0.80,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173945.43,3648.7507,N,-12158.4465,W,1,03,00.5,079.5,M,-99.9,M,,*40 : TerrainNav:: Measurement successfully incorporated from time = 1200.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1200.00 : 28.00 : Estimated East Bias at time = 1200.00 : 24.00 : Estimated Depth Bias at time = 1200.00 : -0.82 : Estimated northing and easting = 4074592.96 : 591528.30 : AshtechGps::processRecord() - $GPGGA,173947.00,3648.75074,N,12158.44671,W,1,08,1.1,-1.14,M,-32.92,M,,*70 : NMEA Update: $GPGGA,173946.43,3648.7507,N,-12158.4466,W,1,03,00.5,079.5,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,173948.00,3648.75064,N,12158.44658,W,1,08,1.1,-1.06,M,-32.92,M,,*76 : NMEA Update: $GPGGA,173947.43,3648.7506,N,-12158.4466,W,1,03,00.5,082.0,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,173949.00,3648.75064,N,12158.44672,W,1,08,1.1,-1.02,M,-32.92,M,,*7B : NMEA Update: $GPGGA,173948.43,3648.7506,N,-12158.4467,W,1,03,00.5,077.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,173950.00,3648.75067,N,12158.44655,W,1,08,1.1,-0.91,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,173949.43,3648.7507,N,-12158.4465,W,1,03,00.5,078.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,173951.00,3648.75077,N,12158.44660,W,1,08,1.1,-0.65,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173950.43,3648.7508,N,-12158.4466,W,1,03,00.5,082.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173952.00,3648.75070,N,12158.44606,W,1,08,1.1,-0.67,M,-32.92,M,,*75 : NMEA Update: $GPGGA,173951.43,3648.7507,N,-12158.4460,W,1,03,00.5,079.6,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,173953.00,3648.75059,N,12158.44571,W,1,08,1.1,-1.00,M,-32.92,M,,*7C : NMEA Update: $GPGGA,173952.43,3648.7506,N,-12158.4456,W,1,03,00.5,079.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,173954.00,3648.75059,N,12158.44548,W,1,08,1.1,-1.66,M,-32.92,M,,*71 : NMEA Update: $GPGGA,173953.42,3648.7506,N,-12158.4455,W,1,03,00.5,082.0,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,173955.00,3648.75062,N,12158.44561,W,1,08,1.1,-1.88,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173954.42,3648.7506,N,-12158.4456,W,1,03,00.5,079.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 1209.997110 : TerrainNav update at dvl time = 1209.997110 : _navData-> (x,y) = (4074564.78, 591506.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 50.2036 : AshtechGps::processRecord() - $GPGGA,173956.00,3648.75057,N,12158.44557,W,1,08,1.1,-1.77,M,-32.92,M,,*73 : NMEA Update: $GPGGA,173955.42,3648.7506,N,-12158.4456,W,1,03,00.5,079.8,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav:: Measurement successfully incorporated from time = 1210.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1210.00 : 27.00 : Estimated East Bias at time = 1210.00 : 24.00 : Estimated Depth Bias at time = 1210.00 : -0.83 : Estimated northing and easting = 4074591.78 : 591530.16 : AshtechGps::processRecord() - $GPGGA,173957.00,3648.75052,N,12158.44551,W,1,08,1.1,-1.58,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,173956.42,3648.7505,N,-12158.4455,W,1,03,00.5,080.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,173958.00,3648.75040,N,12158.44533,W,1,08,1.1,-1.34,M,-32.92,M,,*7E : NMEA Update: $GPGGA,173957.42,3648.7504,N,-12158.4453,W,1,03,00.5,079.7,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,173959.00,3648.75029,N,12158.44509,W,1,08,1.1,-1.10,M,-32.92,M,,*7F : NMEA Update: $GPGGA,173958.42,3648.7503,N,-12158.4451,W,1,03,00.5,080.3,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,174000.00,3648.75021,N,12158.44474,W,1,08,1.1,-0.84,M,-32.92,M,,*72 : NMEA Update: $GPGGA,173959.42,3648.7502,N,-12158.4447,W,1,03,00.5,079.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174001.00,3648.75010,N,12158.44432,W,1,08,1.1,-0.95,M,-32.92,M,,*73 : NMEA Update: $GPGGA,174000.42,3648.7501,N,-12158.4442,W,1,03,00.5,080.8,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,174002.00,3648.75002,N,12158.44422,W,1,08,1.1,-1.22,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174001.42,3648.7500,N,-12158.4442,W,1,03,00.5,079.9,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,174003.00,3648.75006,N,12158.44416,W,1,08,1.1,-1.39,M,-32.92,M,,*77 : NMEA Update: $GPGGA,174002.42,3648.7501,N,-12158.4442,W,1,03,00.5,079.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174004.00,3648.75009,N,12158.44428,W,1,08,1.1,-1.23,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,174003.42,3648.7501,N,-12158.4443,W,1,03,00.5,079.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174005.00,3648.75006,N,12158.44417,W,1,08,1.1,-0.75,M,-32.92,M,,*79 : NMEA Update: $GPGGA,174004.42,3648.7501,N,-12158.4442,W,1,03,00.5,079.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1219.996425 : TerrainNav update at dvl time = 1219.996425 : _navData-> (x,y) = (4074563.76, 591508.30) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,174006.00,3648.75001,N,12158.44403,W,1,08,1.1,-0.43,M,-32.92,M,,*7D : NMEA Update: $GPGGA,174005.42,3648.7500,N,-12158.4440,W,1,03,00.5,080.1,M,-99.9,M,,*49 : TerrainNav::Minimum Correlation Error: 44.5905 : TerrainNav:: Measurement successfully incorporated from time = 1220.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1220.00 : 28.00 : Estimated East Bias at time = 1220.00 : 24.00 : Estimated Depth Bias at time = 1220.00 : -0.84 : Estimated northing and easting = 4074591.76 : 591532.30 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174007.00,3648.74992,N,12158.44372,W,1,08,1.1,0.05,M,-32.92,M,,*50 : NMEA Update: $GPGGA,174006.42,3648.7499,N,-12158.4437,W,1,03,00.5,079.6,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,174008.00,3648.74972,N,12158.44287,W,1,08,1.1,0.38,M,-32.92,M,,*54 : NMEA Update: $GPGGA,174007.42,3648.7497,N,-12158.4427,W,1,03,00.5,081.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174009.00,3648.74955,N,12158.44253,W,1,08,1.1,-0.22,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174008.42,3648.7495,N,-12158.4424,W,1,03,00.5,076.6,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,174010.00,3648.74941,N,12158.44212,W,1,08,1.1,-1.02,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174009.42,3648.7494,N,-12158.4421,W,1,03,00.5,087.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174011.00,3648.74946,N,12158.44239,W,1,08,1.1,-1.70,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,174010.42,3648.7495,N,-12158.4424,W,1,03,00.5,081.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174012.00,3648.74960,N,12158.44270,W,1,08,1.1,-2.06,M,-32.92,M,,*76 : NMEA Update: $GPGGA,174011.42,3648.7496,N,-12158.4428,W,1,03,00.5,079.9,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,174013.00,3648.74968,N,12158.44296,W,1,08,1.1,-1.43,M,-32.92,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,174012.42,3648.7497,N,-12158.4430,W,1,03,00.5,079.0,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,174014.00,3648.74964,N,12158.44300,W,1,08,1.1,-0.42,M,-32.92,M,,*70 : NMEA Update: $GPGGA,174013.42,3648.7496,N,-12158.4430,W,1,03,00.5,079.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174015.00,3648.74944,N,12158.44232,W,1,08,1.1,0.52,M,-32.92,M,,*5F : NMEA Update: $GPGGA,174014.42,3648.7494,N,-12158.4422,W,1,03,00.5,079.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1229.995740 : TerrainNav update at dvl time = 1229.995740 : _navData-> (x,y) = (4074562.59, 591511.18) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 20.6012 : AshtechGps::processRecord() - $GPGGA,174016.00,3648.74915,N,12158.44162,W,1,08,1.1,0.72,M,-32.92,M,,*5C : NMEA Update: $GPGGA,174015.42,3648.7491,N,-12158.4415,W,1,03,00.5,083.2,M,-99.9,M,,*41 : TerrainNav:: Measurement successfully incorporated from time = 1230.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1230.00 : 28.00 : Estimated East Bias at time = 1230.00 : 25.00 : Estimated Depth Bias at time = 1230.00 : -0.83 : Estimated northing and easting = 4074590.59 : 591536.18 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174017.00,3648.74892,N,12158.44089,W,1,08,1.1,0.26,M,-32.92,M,,*56 : NMEA Update: $GPGGA,174016.42,3648.7489,N,-12158.4408,W,1,03,00.5,084.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174018.00,3648.74882,N,12158.44043,W,1,08,1.1,-0.73,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,174017.42,3648.7488,N,-12158.4403,W,1,03,00.5,082.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174019.00,3648.74890,N,12158.44064,W,1,08,1.1,-1.61,M,-32.92,M,,*76 : NMEA Update: $GPGGA,174018.42,3648.7489,N,-12158.4406,W,1,03,00.5,079.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,174020.00,3648.74904,N,12158.44076,W,1,08,1.1,-1.89,M,-32.92,M,,*75 : NMEA Update: $GPGGA,174019.42,3648.7491,N,-12158.4408,W,1,03,00.5,078.2,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,174021.00,3648.74919,N,12158.44128,W,1,08,1.1,-1.69,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174020.42,3648.7492,N,-12158.4413,W,1,03,00.5,081.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174022.00,3648.74918,N,12158.44118,W,1,08,1.1,-1.02,M,-32.92,M,,*70 : NMEA Update: $GPGGA,174021.42,3648.7492,N,-12158.4412,W,1,03,00.5,079.2,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,174023.00,3648.74907,N,12158.44100,W,1,08,1.1,-0.13,M,-32.92,M,,*77 : NMEA Update: $GPGGA,174022.42,3648.7490,N,-12158.4410,W,1,03,00.5,080.5,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174024.00,3648.74886,N,12158.44028,W,1,08,1.1,0.23,M,-32.92,M,,*5D : NMEA Update: $GPGGA,174023.42,3648.7488,N,-12158.4401,W,1,03,00.5,079.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174025.00,3648.74866,N,12158.43981,W,1,08,1.1,-0.17,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,174024.42,3648.7486,N,-12158.4397,W,1,03,00.5,082.2,M,-99.9,M,,*49 : TerrainNav update at nav time = 1239.995055 : TerrainNav update at dvl time = 1239.995055 : _navData-> (x,y) = (4074561.16, 591515.01) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,174026.00,3648.74848,N,12158.43951,W,1,08,1.1,-0.72,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174025.42,3648.7484,N,-12158.4394,W,1,03,00.5,081.6,M,-99.9,M,,*4e : TerrainNav::Minimum Correlation Error: 28.4721 : TerrainNav:: Measurement successfully incorporated from time = 1240.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1240.00 : 28.00 : Estimated East Bias at time = 1240.00 : 25.00 : Estimated Depth Bias at time = 1240.00 : -0.84 : Estimated northing and easting = 4074589.16 : 591540.01 : AshtechGps::processRecord() - $GPGGA,174027.00,3648.74838,N,12158.43940,W,1,07,1.4,-1.11,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174026.42,3648.7484,N,-12158.4394,W,1,03,00.5,080.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174028.00,3648.74836,N,12158.43924,W,1,07,1.4,-1.38,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174027.42,3648.7484,N,-12158.4392,W,1,03,00.5,079.4,M,-99.9,M,,*4f : NMEA Update: $GPGGA,174028.23,3648.7484,N,-12158.4392,W,1,03,00.5,079.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174029.00,3648.74848,N,12158.43919,W,1,07,1.4,-1.80,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,174029.23,3648.7485,N,-12158.4392,W,1,03,00.5,080.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174030.00,3648.74860,N,12158.43949,W,1,07,1.4,-1.91,M,-32.92,M,,*76 : 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,174030.23,3648.7486,N,-12158.4396,W,1,03,00.5,079.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174031.00,3648.74860,N,12158.43963,W,1,07,1.4,-1.32,M,-32.92,M,,*76 : NMEA Update: $GPGGA,174031.23,3648.7486,N,-12158.4397,W,1,03,00.5,078.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174032.00,3648.74850,N,12158.43949,W,1,07,1.4,-0.60,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,174032.23,3648.7485,N,-12158.4394,W,1,03,00.5,080.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174033.00,3648.74832,N,12158.43901,W,1,07,1.4,0.02,M,-32.92,M,,*58 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174033.23,3648.7483,N,-12158.4389,W,1,03,00.5,080.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174034.00,3648.74814,N,12158.43819,W,1,07,1.4,0.07,M,-32.92,M,,*56 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174034.23,3648.7481,N,-12158.4380,W,1,03,00.5,078.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174035.00,3648.74806,N,12158.43791,W,1,07,1.4,-0.71,M,-32.92,M,,*77 : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4074560.12, 591517.89) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 56.0491 : NMEA Update: $GPGGA,174035.23,3648.7481,N,-12158.4379,W,1,03,00.5,086.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174036.00,3648.74809,N,12158.43765,W,1,07,1.4,-1.37,M,-32.92,M,,*73 : TerrainNav:: Measurement successfully incorporated from time = 1249.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1249.99 : 28.00 : Estimated East Bias at time = 1249.99 : 25.00 : Estimated Depth Bias at time = 1249.99 : -0.85 : Estimated northing and easting = 4074588.12 : 591542.89 : NMEA Update: $GPGGA,174036.23,3648.7481,N,-12158.4377,W,1,03,00.5,078.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174037.00,3648.74803,N,12158.43799,W,1,07,1.4,-1.50,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,174037.23,3648.7480,N,-12158.4380,W,1,03,00.5,078.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174038.00,3648.74798,N,12158.43770,W,1,08,1.1,-1.39,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174038.23,3648.7480,N,-12158.4377,W,1,03,00.5,081.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174039.00,3648.74803,N,12158.43786,W,1,08,1.1,-1.60,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,174039.23,3648.7480,N,-12158.4378,W,1,03,00.5,079.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174040.00,3648.74803,N,12158.43765,W,1,08,1.1,-1.49,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,174040.23,3648.7480,N,-12158.4376,W,1,03,00.5,079.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174041.00,3648.74800,N,12158.43775,W,1,08,1.1,-1.71,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,174041.23,3648.7480,N,-12158.4378,W,1,03,00.5,080.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174042.00,3648.74793,N,12158.43779,W,1,08,1.1,-1.39,M,-32.92,M,,*75 : NMEA Update: $GPGGA,174042.23,3648.7479,N,-12158.4377,W,1,03,00.5,080.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174043.00,3648.74776,N,12158.43719,W,1,08,1.1,-0.42,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,174043.23,3648.7477,N,-12158.4371,W,1,03,00.5,081.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174044.00,3648.74762,N,12158.43679,W,1,08,1.1,-0.37,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,174044.23,3648.7476,N,-12158.4367,W,1,03,00.5,081.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174045.00,3648.74748,N,12158.43628,W,1,08,1.1,-0.72,M,-32.92,M,,*7F : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074559.07, 591520.18) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,174045.23,3648.7475,N,-12158.4362,W,1,03,00.5,080.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174046.00,3648.74739,N,12158.43622,W,1,08,1.1,-1.13,M,-32.92,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 42.8130 : TerrainNav:: Measurement successfully incorporated from time = 1259.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1259.99 : 28.00 : Estimated East Bias at time = 1259.99 : 25.00 : Estimated Depth Bias at time = 1259.99 : -0.86 : Estimated northing and easting = 4074587.07 : 591545.18 : NMEA Update: $GPGGA,174046.23,3648.7474,N,-12158.4362,W,1,03,00.5,080.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174047.00,3648.74741,N,12158.43619,W,1,08,1.1,-1.42,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,174047.23,3648.7474,N,-12158.4362,W,1,03,00.5,080.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174048.00,3648.74746,N,12158.43635,W,1,08,1.1,-1.50,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,174048.23,3648.7475,N,-12158.4364,W,1,03,00.5,079.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174049.00,3648.74748,N,12158.43639,W,1,08,1.1,-1.31,M,-32.92,M,,*75 : NMEA Update: $GPGGA,174049.23,3648.7475,N,-12158.4364,W,1,03,00.5,077.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174050.00,3648.74747,N,12158.43598,W,1,08,1.1,-1.02,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,174050.23,3648.7475,N,-12158.4359,W,1,03,00.5,083.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174051.00,3648.74741,N,12158.43593,W,1,08,1.1,-1.03,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,174051.23,3648.7474,N,-12158.4359,W,1,03,00.5,078.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174052.00,3648.74733,N,12158.43564,W,1,08,1.1,-1.16,M,-32.92,M,,*7D : NMEA Update: $GPGGA,174052.23,3648.7473,N,-12158.4356,W,1,03,00.5,080.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174053.00,3648.74720,N,12158.43574,W,1,08,1.1,-0.99,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,174053.23,3648.7472,N,-12158.4357,W,1,03,00.5,079.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174054.00,3648.74710,N,12158.43541,W,1,08,1.1,-0.53,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,174054.23,3648.7471,N,-12158.4353,W,1,03,00.5,079.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174055.00,3648.74692,N,12158.43495,W,1,08,1.1,-0.24,M,-32.92,M,,*7F : TerrainNav update at nav time = 1270.002999 : TerrainNav update at dvl time = 1270.002999 : _navData-> (x,y) = (4074558.04, 591522.24) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 72.0034 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174055.23,3648.7469,N,-12158.4348,W,1,03,00.5,081.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174056.00,3648.74681,N,12158.43445,W,1,08,1.1,-0.58,M,-32.92,M,,*78 : TerrainNav:: Measurement successfully incorporated from time = 1270.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1270.00 : 28.00 : Estimated East Bias at time = 1270.00 : 25.00 : Estimated Depth Bias at time = 1270.00 : -0.86 : Estimated northing and easting = 4074586.04 : 591547.24 : NMEA Update: $GPGGA,174056.23,3648.7468,N,-12158.4344,W,1,03,00.5,079.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174057.00,3648.74681,N,12158.43433,W,1,08,1.1,-1.42,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,174057.23,3648.7468,N,-12158.4344,W,1,03,00.5,079.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174058.00,3648.74685,N,12158.43451,W,1,08,1.1,-1.72,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,174058.23,3648.7469,N,-12158.4345,W,1,03,00.5,079.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174059.00,3648.74681,N,12158.43477,W,1,08,1.1,-1.55,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174059.23,3648.7468,N,-12158.4348,W,1,03,00.5,078.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174100.00,3648.74673,N,12158.43463,W,1,08,1.1,-1.01,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,174100.23,3648.7467,N,-12158.4346,W,1,03,00.5,078.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174101.00,3648.74664,N,12158.43448,W,1,08,1.1,-0.70,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,174101.23,3648.7466,N,-12158.4344,W,1,03,00.5,080.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174102.00,3648.74661,N,12158.43400,W,1,08,1.1,-0.32,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,174102.23,3648.7466,N,-12158.4339,W,1,03,00.5,081.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174103.00,3648.74660,N,12158.43380,W,1,08,1.1,-0.54,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174103.23,3648.7466,N,-12158.4338,W,1,03,00.5,080.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174104.00,3648.74630,N,12158.43344,W,1,08,1.1,-0.51,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,174104.23,3648.7463,N,-12158.4334,W,1,03,00.5,076.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174105.00,3648.74626,N,12158.43310,W,1,08,1.1,-0.35,M,-32.92,M,,*7E : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4074556.86, 591524.95) : _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=3.14 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 73.9299 : NMEA Update: $GPGGA,174105.23,3648.7462,N,-12158.4330,W,1,03,00.5,084.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174106.00,3648.74631,N,12158.43303,W,1,08,1.1,-1.07,M,-32.92,M,,*79 : TerrainNav:: Measurement successfully incorporated from time = 1280.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1280.00 : 28.00 : Estimated East Bias at time = 1280.00 : 25.00 : Estimated Depth Bias at time = 1280.00 : -0.87 : Estimated northing and easting = 4074584.86 : 591549.95 : NMEA Update: $GPGGA,174106.23,3648.7463,N,-12158.4330,W,1,03,00.5,080.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174107.00,3648.74619,N,12158.43273,W,1,08,1.1,-1.69,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,174107.23,3648.7462,N,-12158.4327,W,1,03,00.5,079.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174108.00,3648.74596,N,12158.43296,W,1,08,1.1,-2.19,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,174108.23,3648.7459,N,-12158.4330,W,1,03,00.5,078.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174109.00,3648.74610,N,12158.43309,W,1,08,1.1,-1.93,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,174109.23,3648.7461,N,-12158.4331,W,1,03,00.5,077.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174110.00,3648.74602,N,12158.43303,W,1,08,1.1,-1.24,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174110.23,3648.7460,N,-12158.4330,W,1,03,00.5,079.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174111.00,3648.74585,N,12158.43260,W,1,08,1.1,-1.13,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,174111.23,3648.7458,N,-12158.4326,W,1,03,00.5,079.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174112.00,3648.74581,N,12158.43246,W,1,08,1.1,-0.86,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,174112.23,3648.7458,N,-12158.4324,W,1,03,00.5,080.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174113.00,3648.74569,N,12158.43213,W,1,08,1.1,-0.74,M,-32.92,M,,*76 : NMEA Update: $GPGGA,174113.23,3648.7457,N,-12158.4321,W,1,03,00.5,081.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174114.00,3648.74563,N,12158.43187,W,1,08,1.1,-0.61,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,174114.23,3648.7456,N,-12158.4318,W,1,03,00.5,079.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174115.00,3648.74552,N,12158.43141,W,1,08,1.1,-0.71,M,-32.92,M,,*79 : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074555.53, 591527.48) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174115.23,3648.7455,N,-12158.4313,W,1,03,00.5,080.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174116.00,3648.74553,N,12158.43119,W,1,08,1.1,-0.99,M,-32.92,M,,*70 : TerrainNav::Minimum Correlation Error: 50.5959 : TerrainNav:: Measurement successfully incorporated from time = 1290.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1290.00 : 28.00 : Estimated East Bias at time = 1290.00 : 25.00 : Estimated Depth Bias at time = 1290.00 : -0.88 : Estimated northing and easting = 4074583.53 : 591552.48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174116.23,3648.7455,N,-12158.4312,W,1,03,00.5,082.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174117.00,3648.74547,N,12158.43120,W,1,08,1.1,-1.58,M,-32.92,M,,*72 : NMEA Update: $GPGGA,174117.23,3648.7455,N,-12158.4313,W,1,03,00.5,077.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174118.00,3648.74563,N,12158.43143,W,1,08,1.1,-1.56,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,174118.23,3648.7456,N,-12158.4315,W,1,03,00.5,079.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174119.00,3648.74548,N,12158.43164,W,1,08,1.1,-1.08,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,174119.23,3648.7455,N,-12158.4316,W,1,03,00.5,080.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174120.00,3648.74532,N,12158.43116,W,1,08,1.1,-0.80,M,-32.92,M,,*75 : NMEA Update: $GPGGA,174120.23,3648.7453,N,-12158.4311,W,1,03,00.5,079.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174121.00,3648.74515,N,12158.43100,W,1,08,1.1,-0.80,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,174121.23,3648.7451,N,-12158.4309,W,1,03,00.5,082.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174122.00,3648.74509,N,12158.43041,W,1,08,1.1,-0.79,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,174122.23,3648.7451,N,-12158.4304,W,1,03,00.5,081.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174123.00,3648.74490,N,12158.43025,W,1,08,1.1,-1.02,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,174123.23,3648.7449,N,-12158.4302,W,1,03,00.5,079.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174124.00,3648.74484,N,12158.43014,W,1,08,1.1,-1.17,M,-32.92,M,,*71 : NMEA Update: $GPGGA,174124.23,3648.7448,N,-12158.4301,W,1,03,00.5,079.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174125.00,3648.74479,N,12158.43011,W,1,08,1.1,-1.11,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 = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4074554.22, 591529.30) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : NMEA Update: $GPGGA,174125.23,3648.7448,N,-12158.4301,W,1,03,00.5,080.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174126.00,3648.74471,N,12158.42999,W,1,08,1.1,-0.93,M,-32.92,M,,*79 : TerrainNav::Minimum Correlation Error: 57.8072 : TerrainNav:: Measurement successfully incorporated from time = 1300.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1300.00 : 28.00 : Estimated East Bias at time = 1300.00 : 24.00 : Estimated Depth Bias at time = 1300.00 : -0.90 : Estimated northing and easting = 4074582.22 : 591553.30 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174126.23,3648.7447,N,-12158.4300,W,1,03,00.5,079.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174127.00,3648.74464,N,12158.42970,W,1,08,1.1,-0.83,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174127.23,3648.7446,N,-12158.4297,W,1,03,00.5,080.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174128.00,3648.74456,N,12158.42955,W,1,08,1.1,-0.84,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,174128.23,3648.7445,N,-12158.4295,W,1,03,00.5,080.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174129.00,3648.74444,N,12158.42939,W,1,08,1.1,-1.15,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,174129.23,3648.7444,N,-12158.4294,W,1,03,00.5,081.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174130.00,3648.74465,N,12158.42953,W,1,08,1.1,-1.18,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,174130.23,3648.7446,N,-12158.4295,W,1,03,00.5,079.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174131.00,3648.74473,N,12158.42949,W,1,08,1.1,-0.96,M,-32.92,M,,*75 : NMEA Update: $GPGGA,174131.23,3648.7447,N,-12158.4294,W,1,03,00.5,079.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174132.00,3648.74458,N,12158.42909,W,1,08,1.1,-1.05,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,174132.23,3648.7446,N,-12158.4290,W,1,03,00.5,079.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174133.00,3648.74439,N,12158.42892,W,1,08,1.1,-1.39,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,174133.23,3648.7444,N,-12158.4289,W,1,03,00.5,081.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174134.00,3648.74440,N,12158.42887,W,1,08,1.1,-1.36,M,-32.92,M,,*78 : NMEA Update: $GPGGA,174134.23,3648.7444,N,-12158.4288,W,1,03,00.5,079.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174135.00,3648.74403,N,12158.42859,W,1,08,1.1,-0.75,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1310.000259 : TerrainNav update at dvl time = 1310.000259 : _navData-> (x,y) = (4074552.79, 591531.65) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 53.8003 : NMEA Update: $GPGGA,174135.23,3648.7440,N,-12158.4286,W,1,03,00.5,080.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174136.00,3648.74419,N,12158.42843,W,1,08,1.1,-0.61,M,-32.92,M,,*7D : TerrainNav:: Measurement successfully incorporated from time = 1310.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1310.00 : 28.00 : Estimated East Bias at time = 1310.00 : 24.00 : Estimated Depth Bias at time = 1310.00 : -0.91 : Estimated northing and easting = 4074580.79 : 591555.65 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174136.23,3648.7442,N,-12158.4284,W,1,03,00.5,079.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174137.00,3648.74397,N,12158.42834,W,1,08,1.1,-0.73,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,174137.23,3648.7440,N,-12158.4283,W,1,03,00.5,080.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174138.00,3648.74389,N,12158.42811,W,1,08,1.1,-0.60,M,-32.92,M,,*7B : NMEA Update: $GPGGA,174138.23,3648.7439,N,-12158.4281,W,1,03,00.5,079.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174139.00,3648.74410,N,12158.42788,W,1,08,1.1,-0.62,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,174139.23,3648.7441,N,-12158.4278,W,1,03,00.5,079.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174140.00,3648.74392,N,12158.42776,W,1,08,1.1,-0.81,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,174140.23,3648.7439,N,-12158.4277,W,1,03,00.5,080.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174141.00,3648.74406,N,12158.42759,W,1,08,1.1,-0.83,M,-32.92,M,,*7B : NMEA Update: $GPGGA,174141.23,3648.7440,N,-12158.4276,W,1,03,00.5,080.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174142.00,3648.74405,N,12158.42740,W,1,08,1.1,-0.78,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,174142.23,3648.7440,N,-12158.4274,W,1,03,00.5,080.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174143.00,3648.74391,N,12158.42718,W,1,08,1.1,-0.93,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,174143.23,3648.7439,N,-12158.4271,W,1,03,00.5,079.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174144.00,3648.74351,N,12158.42705,W,1,08,1.1,-1.43,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,174144.23,3648.7435,N,-12158.4271,W,1,03,00.5,079.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174145.00,3648.74345,N,12158.42717,W,1,08,1.1,-1.62,M,-32.92,M,,*7B : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074551.80, 591533.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174145.23,3648.7434,N,-12158.4272,W,1,03,00.5,078.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174146.00,3648.74344,N,12158.42727,W,1,08,1.1,-1.20,M,-32.92,M,,*7C : TerrainNav::Minimum Correlation Error: 60.7654 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav:: Measurement successfully incorporated from time = 1320.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1320.00 : 28.00 : Estimated East Bias at time = 1320.00 : 24.00 : Estimated Depth Bias at time = 1320.00 : -0.92 : Estimated northing and easting = 4074579.80 : 591557.65 : NMEA Update: $GPGGA,174146.23,3648.7434,N,-12158.4273,W,1,03,00.5,079.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174147.00,3648.74367,N,12158.42709,W,1,08,1.1,-0.44,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,174147.23,3648.7437,N,-12158.4270,W,1,03,00.5,079.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174148.00,3648.74361,N,12158.42659,W,1,08,1.1,-0.09,M,-32.92,M,,*77 : NMEA Update: $GPGGA,174148.23,3648.7436,N,-12158.4265,W,1,03,00.5,080.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174149.00,3648.74360,N,12158.42629,W,1,08,1.1,-0.30,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,174149.23,3648.7436,N,-12158.4263,W,1,03,00.5,081.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174150.00,3648.74313,N,12158.42612,W,1,08,1.1,-1.11,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,174150.23,3648.7431,N,-12158.4261,W,1,03,00.5,079.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174151.00,3648.74333,N,12158.42614,W,1,08,1.1,-1.09,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,174151.23,3648.7433,N,-12158.4261,W,1,03,00.5,079.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174152.00,3648.74327,N,12158.42604,W,1,08,1.1,-1.01,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174152.23,3648.7433,N,-12158.4260,W,1,03,00.5,079.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174153.00,3648.74301,N,12158.42567,W,1,08,1.1,-1.39,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,174153.23,3648.7430,N,-12158.4256,W,1,03,00.5,079.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174154.00,3648.74290,N,12158.42517,W,1,07,1.4,-3.17,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,174154.23,3648.7429,N,-12158.4252,W,1,03,00.5,080.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174155.00,3648.74307,N,12158.42532,W,1,07,1.4,-3.27,M,-32.92,M,,*70 : TerrainNav update at nav time = 1329.998889 : TerrainNav update at dvl time = 1329.998889 : _navData-> (x,y) = (4074551.10, 591536.46) : _tercom->outstandingMeas() = 0 : TerrainNav::Excluded 2 beam(s) from correlation due to poor sonar data. : TerrainNav::Minimum Correlation Error: 46.2688 : NMEA Update: $GPGGA,174155.23,3648.7431,N,-12158.4254,W,1,03,00.5,079.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174156.00,3648.74324,N,12158.42570,W,1,07,1.4,-2.82,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav:: Measurement successfully incorporated from time = 1330.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1330.00 : 28.00 : Estimated East Bias at time = 1330.00 : 24.00 : Estimated Depth Bias at time = 1330.00 : -0.93 : Estimated northing and easting = 4074579.10 : 591560.46 : NMEA Update: $GPGGA,174156.23,3648.7432,N,-12158.4258,W,1,03,00.5,080.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174157.00,3648.74329,N,12158.42584,W,1,07,1.4,-2.35,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,174157.23,3648.7433,N,-12158.4259,W,1,03,00.5,079.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174158.00,3648.74325,N,12158.42548,W,1,07,1.4,-1.36,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,174158.23,3648.7432,N,-12158.4253,W,1,03,00.5,080.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174159.00,3648.74293,N,12158.42483,W,1,07,1.4,-0.96,M,-32.92,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,174159.23,3648.7429,N,-12158.4247,W,1,03,00.5,081.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174200.00,3648.74264,N,12158.42418,W,1,07,1.4,-1.50,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,174200.23,3648.7426,N,-12158.4241,W,1,03,00.5,080.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174201.00,3648.74237,N,12158.42379,W,1,07,1.4,-2.50,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,174201.23,3648.7423,N,-12158.4238,W,1,03,00.5,079.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174202.00,3648.74241,N,12158.42378,W,1,07,1.4,-2.98,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174202.23,3648.7424,N,-12158.4238,W,1,03,00.5,080.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174203.00,3648.74229,N,12158.42397,W,1,07,1.4,-2.91,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,174203.23,3648.7423,N,-12158.4240,W,1,03,00.5,078.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174204.00,3648.74245,N,12158.42425,W,1,07,1.4,-3.30,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,174204.23,3648.7425,N,-12158.4243,W,1,03,00.5,078.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174205.00,3648.74244,N,12158.42442,W,1,07,1.4,-2.75,M,-32.92,M,,*70 : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4074549.99, 591537.71) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 59.9232 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174205.23,3648.7424,N,-12158.4244,W,1,03,00.5,079.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174206.00,3648.74225,N,12158.42385,W,1,07,1.4,-2.52,M,-32.92,M,,*7D : TerrainNav:: Measurement successfully incorporated from time = 1340.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1340.00 : 28.00 : Estimated East Bias at time = 1340.00 : 24.00 : Estimated Depth Bias at time = 1340.00 : -0.94 : Estimated northing and easting = 4074577.99 : 591561.71 : NMEA Update: $GPGGA,174206.23,3648.7422,N,-12158.4237,W,1,03,00.5,079.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174207.00,3648.74183,N,12158.42333,W,1,08,1.1,-1.37,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,174207.23,3648.7418,N,-12158.4232,W,1,03,00.5,080.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174208.00,3648.74161,N,12158.42315,W,1,08,1.1,-1.15,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,174208.23,3648.7416,N,-12158.4231,W,1,03,00.5,079.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174209.00,3648.74115,N,12158.42299,W,1,08,1.1,-1.37,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174209.23,3648.7411,N,-12158.4230,W,1,03,00.5,080.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174210.00,3648.74121,N,12158.42290,W,1,08,1.1,-2.03,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,174210.23,3648.7412,N,-12158.4229,W,1,03,00.5,078.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174211.00,3648.74121,N,12158.42280,W,1,08,1.1,-1.35,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,174211.23,3648.7412,N,-12158.4228,W,1,03,00.5,080.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174212.00,3648.74115,N,12158.42262,W,1,08,1.1,-1.24,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,174212.23,3648.7411,N,-12158.4226,W,1,03,00.5,079.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174213.00,3648.74127,N,12158.42265,W,1,08,1.1,-1.27,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174213.23,3648.7413,N,-12158.4226,W,1,03,00.5,078.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174214.00,3648.74107,N,12158.42255,W,1,08,1.1,-1.21,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,174214.23,3648.7410,N,-12158.4225,W,1,03,00.5,079.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174215.00,3648.74083,N,12158.42246,W,1,08,1.1,-1.36,M,-32.92,M,,*74 : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074546.98, 591540.80) : _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=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174215.23,3648.7408,N,-12158.4225,W,1,03,00.5,080.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174216.00,3648.74066,N,12158.42246,W,1,08,1.1,-1.27,M,-32.92,M,,*7C : TerrainNav::Minimum Correlation Error: 42.1256 : TerrainNav:: Measurement successfully incorporated from time = 1350.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1350.00 : 28.00 : Estimated East Bias at time = 1350.00 : 24.00 : Estimated Depth Bias at time = 1350.00 : -0.95 : Estimated northing and easting = 4074574.98 : 591564.80 : NMEA Update: $GPGGA,174216.23,3648.7406,N,-12158.4225,W,1,03,00.5,077.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174217.00,3648.74058,N,12158.42220,W,1,08,1.1,-0.74,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,174217.23,3648.7405,N,-12158.4221,W,1,03,00.5,080.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174218.00,3648.74067,N,12158.42178,W,1,08,1.1,-0.56,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,174218.23,3648.7407,N,-12158.4217,W,1,03,00.5,079.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174219.00,3648.74057,N,12158.42152,W,1,08,1.1,-0.98,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,174219.23,3648.7405,N,-12158.4215,W,1,03,00.5,080.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174220.00,3648.74071,N,12158.42148,W,1,08,1.1,-1.08,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174220.22,3648.7407,N,-12158.4215,W,1,03,00.5,080.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174221.00,3648.74037,N,12158.42141,W,1,08,1.1,-1.29,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,174221.22,3648.7404,N,-12158.4214,W,1,03,00.5,080.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174222.00,3648.74078,N,12158.42155,W,1,08,1.1,-1.58,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,174222.22,3648.7408,N,-12158.4216,W,1,03,00.5,079.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174223.00,3648.74087,N,12158.42146,W,1,08,1.1,-1.16,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174223.22,3648.7409,N,-12158.4214,W,1,03,00.5,080.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174224.00,3648.74068,N,12158.42120,W,1,08,1.1,-0.91,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,174224.22,3648.7407,N,-12158.4212,W,1,03,00.5,079.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174225.00,3648.74058,N,12158.42101,W,1,08,1.1,-0.79,M,-32.92,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4074546.57, 591542.98) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav::Minimum Correlation Error: 53.2007 : NMEA Update: $GPGGA,174225.22,3648.7406,N,-12158.4210,W,1,03,00.5,079.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174226.00,3648.74002,N,12158.42078,W,1,08,1.1,-0.70,M,-32.92,M,,*71 : TerrainNav:: Measurement successfully incorporated from time = 1360.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1360.00 : 29.00 : Estimated East Bias at time = 1360.00 : 24.00 : Estimated Depth Bias at time = 1360.00 : -0.95 : Estimated northing and easting = 4074575.57 : 591566.98 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174226.22,3648.7400,N,-12158.4207,W,1,03,00.5,078.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174227.00,3648.73975,N,12158.42042,W,1,08,1.1,-0.77,M,-32.92,M,,*70 : NMEA Update: $GPGGA,174227.22,3648.7397,N,-12158.4203,W,1,03,00.5,080.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174228.00,3648.73960,N,12158.42005,W,1,08,1.1,-1.14,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,174228.22,3648.7396,N,-12158.4200,W,1,03,00.5,080.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174229.00,3648.73958,N,12158.41991,W,1,08,1.1,-1.51,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,174229.22,3648.7395,N,-12158.4199,W,1,03,00.5,078.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174230.00,3648.73928,N,12158.42005,W,1,08,1.1,-2.03,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174230.22,3648.7393,N,-12158.4201,W,1,03,00.5,080.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174231.00,3648.73937,N,12158.42041,W,1,08,1.1,-1.68,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,174231.22,3648.7394,N,-12158.4204,W,1,03,00.5,079.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174232.00,3648.73958,N,12158.42029,W,1,08,1.1,-0.68,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 : NMEA Update: $GPGGA,174232.22,3648.7396,N,-12158.4202,W,1,03,00.5,080.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174233.00,3648.73963,N,12158.41971,W,1,08,1.1,0.06,M,-32.92,M,,*53 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174233.22,3648.7396,N,-12158.4196,W,1,03,00.5,081.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174234.00,3648.73954,N,12158.41915,W,1,08,1.1,-0.34,M,-32.92,M,,*7E : NMEA Update: $GPGGA,174234.22,3648.7395,N,-12158.4191,W,1,03,00.5,080.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174235.00,3648.73918,N,12158.41891,W,1,08,1.1,-0.77,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 = 1369.996149 : TerrainNav update at dvl time = 1369.996149 : _navData-> (x,y) = (4074544.01, 591546.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174235.22,3648.7392,N,-12158.4189,W,1,03,00.5,080.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174236.00,3648.73894,N,12158.41892,W,1,08,1.1,-1.19,M,-32.92,M,,*71 : TerrainNav::Minimum Correlation Error: 49.8655 : TerrainNav:: Measurement successfully incorporated from time = 1370.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1370.00 : 29.00 : Estimated East Bias at time = 1370.00 : 24.00 : Estimated Depth Bias at time = 1370.00 : -0.96 : Estimated northing and easting = 4074573.01 : 591570.12 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174236.22,3648.7389,N,-12158.4189,W,1,03,00.5,079.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174237.00,3648.73884,N,12158.41895,W,1,08,1.1,-1.27,M,-32.92,M,,*7B : NMEA Update: $GPGGA,174237.22,3648.7388,N,-12158.4189,W,1,03,00.5,078.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174238.00,3648.73861,N,12158.41872,W,1,08,1.1,-0.95,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,174238.22,3648.7386,N,-12158.4187,W,1,03,00.5,079.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174239.00,3648.73882,N,12158.41845,W,1,08,1.1,-0.69,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,174239.22,3648.7388,N,-12158.4184,W,1,03,00.5,080.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174240.00,3648.73881,N,12158.41817,W,1,08,1.1,-0.90,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,174240.22,3648.7388,N,-12158.4181,W,1,03,00.5,080.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174241.00,3648.73878,N,12158.41807,W,1,08,1.1,-1.38,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174241.22,3648.7388,N,-12158.4181,W,1,03,00.5,079.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174242.00,3648.73853,N,12158.41815,W,1,08,1.1,-1.39,M,-32.92,M,,*74 : 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,174242.22,3648.7385,N,-12158.4182,W,1,03,00.5,079.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174243.00,3648.73841,N,12158.41819,W,1,08,1.1,-1.15,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,174243.22,3648.7384,N,-12158.4182,W,1,03,00.5,080.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174244.00,3648.73833,N,12158.41796,W,1,08,1.1,-0.53,M,-32.92,M,,*7D : NMEA Update: $GPGGA,174244.22,3648.7383,N,-12158.4179,W,1,03,00.5,080.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174245.00,3648.73829,N,12158.41766,W,1,08,1.1,-0.30,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 = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074542.35, 591548.06) : _tercom->outstandingMeas() = 0 : TerrainNav::Minimum Correlation Error: 50.3245 : NMEA Update: $GPGGA,174245.22,3648.7383,N,-12158.4176,W,1,03,00.5,081.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174246.00,3648.73800,N,12158.41715,W,1,08,1.1,-0.48,M,-32.92,M,,*7E : TerrainNav:: Measurement successfully incorporated from time = 1380.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1380.00 : 28.00 : Estimated East Bias at time = 1380.00 : 24.00 : Estimated Depth Bias at time = 1380.00 : -0.97 : Estimated northing and easting = 4074570.35 : 591572.06 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174246.22,3648.7380,N,-12158.4171,W,1,03,00.5,080.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174247.00,3648.73770,N,12158.41677,W,1,08,1.1,-0.70,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,174247.22,3648.7377,N,-12158.4167,W,1,03,00.5,080.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174248.00,3648.73801,N,12158.41657,W,1,08,1.1,-1.03,M,-32.92,M,,*78 : NMEA Update: $GPGGA,174248.22,3648.7380,N,-12158.4165,W,1,03,00.5,080.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174249.00,3648.73808,N,12158.41666,W,1,08,1.1,-1.39,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,174249.22,3648.7381,N,-12158.4167,W,1,03,00.5,078.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174250.00,3648.73787,N,12158.41670,W,1,08,1.1,-1.37,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,174250.22,3648.7378,N,-12158.4167,W,1,03,00.5,078.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174251.00,3648.73745,N,12158.41657,W,1,08,1.1,-1.15,M,-32.92,M,,*78 : NMEA Update: $GPGGA,174251.22,3648.7374,N,-12158.4165,W,1,03,00.5,080.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174252.00,3648.73764,N,12158.41629,W,1,08,1.1,-0.81,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,174252.22,3648.7376,N,-12158.4162,W,1,03,00.5,079.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174253.00,3648.73759,N,12158.41605,W,1,08,1.1,-0.74,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,174253.22,3648.7376,N,-12158.4160,W,1,03,00.5,079.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174254.00,3648.73714,N,12158.41566,W,1,08,1.1,-0.95,M,-32.92,M,,*71 : NMEA Update: $GPGGA,174254.03,3648.7371,N,-12158.4156,W,1,03,00.5,079.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174255.00,3648.73721,N,12158.41545,W,1,08,1.1,-1.06,M,-32.92,M,,*7C : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4074540.40, 591551.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174255.03,3648.7372,N,-12158.4154,W,1,03,00.5,080.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174256.00,3648.73686,N,12158.41554,W,1,08,1.1,-1.64,M,-32.92,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 42.9366 : TerrainNav:: Measurement successfully incorporated from time = 1389.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1389.99 : 28.00 : Estimated East Bias at time = 1389.99 : 24.00 : Estimated Depth Bias at time = 1389.99 : -0.98 : Estimated northing and easting = 4074568.40 : 591575.36 : NMEA Update: $GPGGA,174256.03,3648.7368,N,-12158.4156,W,1,03,00.5,079.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174257.00,3648.73692,N,12158.41566,W,1,08,1.1,-1.18,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,174257.03,3648.7369,N,-12158.4157,W,1,03,00.5,079.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174258.00,3648.73705,N,12158.41531,W,1,08,1.1,-0.52,M,-32.92,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,174258.03,3648.7370,N,-12158.4152,W,1,03,00.5,080.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174259.00,3648.73685,N,12158.41478,W,1,08,1.1,-0.41,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,174259.03,3648.7368,N,-12158.4147,W,1,03,00.5,080.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174300.00,3648.73682,N,12158.41449,W,1,08,1.1,-0.84,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,174300.03,3648.7368,N,-12158.4144,W,1,03,00.5,080.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174301.00,3648.73664,N,12158.41445,W,1,08,1.1,-1.02,M,-32.92,M,,*79 : NMEA Update: $GPGGA,174301.03,3648.7366,N,-12158.4144,W,1,03,00.5,079.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174302.00,3648.73634,N,12158.41425,W,1,08,1.1,-0.95,M,-32.92,M,,*76 : NMEA Update: $GPGGA,174302.03,3648.7363,N,-12158.4142,W,1,03,00.5,079.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174303.00,3648.73621,N,12158.41402,W,1,08,1.1,-1.10,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,174303.03,3648.7362,N,-12158.4140,W,1,03,00.5,079.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174304.00,3648.73609,N,12158.41395,W,1,08,1.1,-1.48,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,174304.03,3648.7361,N,-12158.4139,W,1,03,00.5,080.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174305.00,3648.73607,N,12158.41402,W,1,08,1.1,-1.50,M,-32.92,M,,*7C : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4074538.38, 591553.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174305.03,3648.7361,N,-12158.4140,W,1,03,00.5,079.8,M,-99.9,M,,*44 : TerrainNav::Minimum Correlation Error: 50.2568 : AshtechGps::processRecord() - $GPGGA,174306.00,3648.73609,N,12158.41387,W,1,08,1.1,-1.26,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav:: Measurement successfully incorporated from time = 1399.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1399.99 : 29.00 : Estimated East Bias at time = 1399.99 : 25.00 : Estimated Depth Bias at time = 1399.99 : -0.98 : Estimated northing and easting = 4074567.38 : 591578.37 : NMEA Update: $GPGGA,174306.03,3648.7361,N,-12158.4138,W,1,03,00.5,079.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174307.00,3648.73592,N,12158.41361,W,1,08,1.1,-1.08,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,174307.03,3648.7359,N,-12158.4136,W,1,03,00.5,079.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174308.00,3648.73586,N,12158.41348,W,1,08,1.1,-1.03,M,-32.92,M,,*74 : NMEA Update: $GPGGA,174308.03,3648.7358,N,-12158.4135,W,1,03,00.5,080.6,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,174309.00,3648.73575,N,12158.41338,W,1,08,1.1,-0.74,M,-32.92,M,,*7F : NMEA Update: $GPGGA,174309.03,3648.7357,N,-12158.4134,W,1,03,00.5,080.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174310.00,3648.73609,N,12158.41317,W,1,08,1.1,-0.15,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,174310.03,3648.7361,N,-12158.4131,W,1,03,00.5,080.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,174311.00,3648.73587,N,12158.41271,W,1,08,1.1,-0.39,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,174311.03,3648.7359,N,-12158.4126,W,1,03,00.5,080.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174312.00,3648.73565,N,12158.41246,W,1,08,1.1,-0.94,M,-32.92,M,,*72 : NMEA Update: $GPGGA,174312.03,3648.7356,N,-12158.4124,W,1,03,00.5,080.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174313.00,3648.73532,N,12158.41227,W,1,08,1.1,-1.28,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,174313.03,3648.7353,N,-12158.4123,W,1,03,00.5,079.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174314.00,3648.73506,N,12158.41222,W,1,08,1.1,-1.22,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,174314.03,3648.7351,N,-12158.4122,W,1,03,00.5,079.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174315.00,3648.73531,N,12158.41225,W,1,08,1.1,-1.52,M,-32.92,M,,*7A : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074536.94, 591556.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174315.03,3648.7353,N,-12158.4123,W,1,03,00.5,080.7,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,174316.00,3648.73496,N,12158.41221,W,1,08,1.1,-1.52,M,-32.92,M,,*71 : TerrainNav::Minimum Correlation Error: 66.9803 : TerrainNav:: Measurement successfully incorporated from time = 1409.99 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1409.99 : 27.00 : Estimated East Bias at time = 1409.99 : 25.00 : Estimated Depth Bias at time = 1409.99 : -0.99 : Estimated northing and easting = 4074563.94 : 591581.07 : NMEA Update: $GPGGA,174316.03,3648.7349,N,-12158.4122,W,1,03,00.5,079.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174317.00,3648.73485,N,12158.41193,W,1,08,1.1,-1.30,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,174317.03,3648.7348,N,-12158.4119,W,1,03,00.5,079.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174318.00,3648.73490,N,12158.41173,W,1,08,1.1,-0.98,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,174318.03,3648.7349,N,-12158.4117,W,1,03,00.5,079.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174319.00,3648.73471,N,12158.41153,W,1,08,1.1,-0.90,M,-32.92,M,,*7E : NMEA Update: $GPGGA,174319.03,3648.7347,N,-12158.4115,W,1,03,00.5,079.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174320.00,3648.73461,N,12158.41139,W,1,08,1.1,-0.79,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,174320.03,3648.7346,N,-12158.4113,W,1,03,00.5,079.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,174321.00,3648.73435,N,12158.41109,W,1,08,1.1,-0.52,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,174321.03,3648.7343,N,-12158.4110,W,1,03,00.5,079.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174322.00,3648.73432,N,12158.41062,W,1,08,1.1,-0.72,M,-32.92,M,,*7E : NMEA Update: $GPGGA,174322.03,3648.7343,N,-12158.4105,W,1,03,00.5,079.7,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,174323.00,3648.73435,N,12158.41049,W,1,08,1.1,-1.36,M,-32.92,M,,*70 : NMEA Update: $GPGGA,174323.03,3648.7343,N,-12158.4105,W,1,03,00.5,079.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174324.00,3648.73445,N,12158.41057,W,1,08,1.1,-1.58,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,174324.03,3648.7345,N,-12158.4106,W,1,03,00.5,078.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,174325.00,3648.73424,N,12158.41044,W,1,08,1.1,-1.48,M,-32.92,M,,*72 : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : _navData-> (x,y) = (4074535.05, 591558.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174325.03,3648.7342,N,-12158.4104,W,1,03,00.5,080.2,M,-99.9,M,,*4b : TerrainNav::Minimum Correlation Error: 44.9111 : AshtechGps::processRecord() - $GPGGA,174326.00,3648.73454,N,12158.41048,W,1,08,1.1,-1.10,M,-32.92,M,,*77 : TerrainNav:: Measurement successfully incorporated from time = 1420.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1420.00 : 18.00 : Estimated East Bias at time = 1420.00 : 49.00 : Estimated Depth Bias at time = 1420.00 : -0.89 : Estimated northing and easting = 4074553.05 : 591607.74 : NMEA Update: $GPGGA,174326.03,3648.7345,N,-12158.4104,W,1,03,00.5,079.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174327.00,3648.73451,N,12158.41033,W,1,08,1.1,-1.29,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,174327.03,3648.7345,N,-12158.4103,W,1,03,00.5,080.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174328.00,3648.73464,N,12158.41043,W,1,08,1.1,-0.89,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,174328.03,3648.7346,N,-12158.4104,W,1,03,00.5,079.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174329.00,3648.73418,N,12158.41001,W,1,08,1.1,-0.62,M,-32.92,M,,*79 : NMEA Update: $GPGGA,174329.03,3648.7342,N,-12158.4099,W,1,03,00.5,079.8,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,174330.00,3648.73386,N,12158.40947,W,1,08,1.1,-0.27,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174330.03,3648.7338,N,-12158.4094,W,1,03,00.5,080.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,174331.00,3648.73356,N,12158.40890,W,1,08,1.1,-0.40,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,174331.03,3648.7335,N,-12158.4088,W,1,03,00.5,079.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,174332.00,3648.73361,N,12158.40859,W,1,08,1.1,-0.80,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,174332.03,3648.7336,N,-12158.4085,W,1,03,00.5,079.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174333.00,3648.73362,N,12158.40855,W,1,08,1.1,-1.50,M,-32.92,M,,*70 : NMEA Update: $GPGGA,174333.03,3648.7336,N,-12158.4086,W,1,03,00.5,079.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,174334.00,3648.73364,N,12158.40881,W,1,08,1.1,-2.21,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,174334.03,3648.7337,N,-12158.4089,W,1,03,00.5,078.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174335.00,3648.73309,N,12158.40905,W,1,08,1.1,-2.26,M,-32.92,M,,*7D : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4074532.97, 591560.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174335.03,3648.7331,N,-12158.4091,W,1,03,00.5,079.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174336.00,3648.73298,N,12158.40913,W,1,08,1.1,-1.60,M,-32.92,M,,*71 : TerrainNav::Minimum Correlation Error: 56.6961 : NMEA Update: $GPGGA,174336.03,3648.7329,N,-12158.4091,W,1,03,00.5,078.6,M,-99.9,M,,*4a : TerrainNav:: Measurement successfully incorporated from time = 1430.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.01 : Estimated North Bias at time = 1430.00 : 18.00 : Estimated East Bias at time = 1430.00 : 49.00 : Estimated Depth Bias at time = 1430.00 : -0.90 : Estimated northing and easting = 4074550.97 : 591609.72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174337.00,3648.73302,N,12158.40848,W,1,08,1.1,-1.45,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174337.03,3648.7330,N,-12158.4084,W,1,03,00.5,080.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174338.00,3648.73254,N,12158.40794,W,1,08,1.1,0.49,M,-32.92,M,,*59 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174338.03,3648.7325,N,-12158.4078,W,1,03,00.5,080.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174339.00,3648.73242,N,12158.40765,W,1,07,1.2,-0.20,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,174339.03,3648.7324,N,-12158.4076,W,1,03,00.5,080.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174340.00,3648.73266,N,12158.40756,W,1,08,1.1,-1.12,M,-32.92,M,,*7B : NMEA Update: $GPGGA,174340.03,3648.7326,N,-12158.4076,W,1,03,00.5,079.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174341.00,3648.73247,N,12158.40740,W,1,07,1.2,-1.11,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,174341.03,3648.7325,N,-12158.4074,W,1,03,00.5,079.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174342.00,3648.73254,N,12158.40707,W,1,08,1.1,-1.24,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,174342.03,3648.7325,N,-12158.4070,W,1,03,00.5,078.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,174343.00,3648.73240,N,12158.40691,W,1,08,1.1,-1.43,M,-32.92,M,,*72 : NMEA Update: $GPGGA,174343.03,3648.7324,N,-12158.4069,W,1,03,00.5,079.2,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,174344.00,3648.73232,N,12158.40675,W,1,08,1.1,-1.34,M,-32.92,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,174344.03,3648.7323,N,-12158.4067,W,1,03,00.5,080.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174345.00,3648.73231,N,12158.40658,W,1,08,1.1,-1.66,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 = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074531.50, 591564.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174345.03,3648.7323,N,-12158.4066,W,1,03,00.5,079.5,M,-99.9,M,,*4e : TerrainNav::Minimum Correlation Error: 57.9243 : AshtechGps::processRecord() - $GPGGA,174346.00,3648.73220,N,12158.40640,W,1,08,1.1,-1.43,M,-32.92,M,,*7D : TerrainNav:: Measurement successfully incorporated from time = 1440.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1440.00 : 19.00 : Estimated East Bias at time = 1440.00 : 49.00 : Estimated Depth Bias at time = 1440.00 : -0.91 : Estimated northing and easting = 4074550.50 : 591613.56 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,174346.03,3648.7322,N,-12158.4064,W,1,03,00.5,079.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,174347.00,3648.73200,N,12158.40636,W,1,08,1.1,-1.46,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174347.03,3648.7320,N,-12158.4064,W,1,03,00.5,079.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,174348.00,3648.73191,N,12158.40626,W,1,08,1.1,-1.56,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,174348.03,3648.7319,N,-12158.4062,W,1,03,00.5,079.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,174349.00,3648.73189,N,12158.40610,W,1,08,1.1,-1.25,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,174349.03,3648.7319,N,-12158.4060,W,1,03,00.5,078.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,174350.00,3648.73184,N,12158.40595,W,1,08,1.1,-1.16,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174350.03,3648.7318,N,-12158.4059,W,1,03,00.5,081.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174351.00,3648.73179,N,12158.40593,W,1,08,1.1,-1.02,M,-32.92,M,,*7C : NMEA Update: $GPGGA,174351.03,3648.7318,N,-12158.4059,W,1,03,00.5,079.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,174352.00,3648.73169,N,12158.40590,W,1,08,1.1,-0.92,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,174352.03,3648.7317,N,-12158.4059,W,1,03,00.5,079.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,174353.00,3648.73183,N,12158.40550,W,1,07,1.2,-0.51,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,174353.03,3648.7318,N,-12158.4054,W,1,03,00.5,080.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,174354.00,3648.73134,N,12158.40512,W,1,08,1.1,-0.39,M,-32.92,M,,*70 : NMEA Update: $GPGGA,174354.03,3648.7313,N,-12158.4050,W,1,03,00.5,079.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,174355.00,3648.73112,N,12158.40470,W,1,08,1.1,-0.68,M,-32.92,M,,*74 : 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) = (4074529.29, 591567.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,174354.84,3648.7311,N,-12158.4046,W,1,03,00.5,081.2,M,-99.9,M,,*42 : TerrainNav::Excluded 1 beam(s) from correlation due to poor sonar data. : AshtechGps::processRecord() - $GPGGA,174356.00,3648.73067,N,12158.40443,W,1,08,1.1,-1.10,M,-32.92,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav::Minimum Correlation Error: 43.4948 : NMEA Update: $GPGGA,174355.83,3648.7306,N,-12158.4043,W,1,03,00.5,079.6,M,-99.9,M,,*44 : TerrainNav:: Measurement successfully incorporated from time = 1450.00 sec. : TerrainNav::Likelihood surface maximum peak: 0.02 : Estimated North Bias at time = 1450.00 : 19.00 : Estimated East Bias at time = 1450.00 : 49.00 : Estimated Depth Bias at time = 1450.00 : -0.91 : Estimated northing and easting = 4074548.29 : 591616.47 : AshtechGps::processRecord() - $GPGGA,174357.00,3648.73081,N,12158.40437,W,1,08,1.1,-1.92,M,-32.92,M,,*7A : NMEA Update: $GPGGA,174356.83,3648.7308,N,-12158.4043,W,1,03,00.5,079.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174358.00,3648.73105,N,12158.40450,W,1,08,1.1,-2.24,M,-32.92,M,,*77 : NMEA Update: $GPGGA,174357.83,3648.7311,N,-12158.4045,W,1,03,00.5,079.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,174359.00,3648.73140,N,12158.40466,W,1,07,1.2,-2.02,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,174358.83,3648.7314,N,-12158.4047,W,1,03,00.5,078.8,M,-99.9,M,,*41 : 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 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : Fan Destructor Executing. : CameraDestructor Executing. : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : **** SharedData destructor for object navigationOutput **** //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00043290. : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TerrainAidDestructor Executing. : **** 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 ****