Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg createTask() - externalCommsServer : Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Sup: WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters ervi: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 sor:: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 :cr: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 eate: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 Tas: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 k() : WorkSite server: 0x2300c - dynamicControlServer : New Navigation component constructor Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciS: Preparing to fork erver : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ervisor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ::c: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts reat: SerialDevice: done... eTask() - dvlServer Su: SerialDevice: done... pervisor::createTask() - fanServer Superv: SerialDevice: done... isor::createTask() - dropWeightServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : SerialDevice: done... Supervisor::createTask() - sonardyneServer Su: SerialDevice: done... perv: SerialDevice: done... is: Crossbow.cc: In getSerialNumber() or::createTask() - cameraServer : Gps: initializing : SerialDevice: done... : SerialDevice: done... S: SerialDevice: done... upervisor::createTask() - benthosServer : SerialDevice: done... Supervisor::createTask() - terrainAidDriver : SerialDevice: done... : SonardyneServer.cc was last compiled on Jun 26 2009, 02:26:26 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : SerialDevice: done... : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jun 26 2009, 02:26:23 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : BenthosModem::commandMode() - confirming... : 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() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Set verbose level : SerialDevice: done... : SerialDevice: done... : 3 Modules found : Set write delay : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - ,3648.73238,N,12158.13455,W,1,10,0.8,-1.23,M,-32.96,M,,*75 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : Set remote response waiting time : CR1 [Parameters set to FACTORY defaults] > : Turn on doppler correction : NMEA Update: $GPGGA,213616.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : AshtechGps::processRecord() - $GPGGA,213617.00,3648.73207,N,12158.13463,W,1,10,0.8,-1.39,M,-32.96,M,,*76 : header is >CS 7 : Dvl record header not found. Resynchronize. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,213617.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,213618.00,3648.73213,N,12158.13402,W,1,10,0.8,-1.27,M,-32.96,M,,*74 : NMEA Update: $GPGGA,213618.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : AshtechGps::processRecord() - $GPGGA,213619.00,3648.73297,N,12158.13322,W,1,10,0.8,-0.43,M,-32.96,M,,*7F : NMEA Update: $GPGGA,213619.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,213620.00,3648.73249,N,12158.13356,W,1,10,0.8,-1.09,M,-32.96,M,,*7A : NMEA Update: $GPGGA,213620.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,213621.00,3648.73286,N,12158.13337,W,1,10,0.8,-1.32,M,-32.96,M,,*77 : NMEA Update: $GPGGA,213621.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,213622.00,3648.73248,N,12158.13351,W,1,10,0.8,-1.69,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213622.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : Parosci.cc -- Initial pressure = 1.103162 : AshtechGps::processRecord() - $GPGGA,213623.00,3648.73309,N,12158.13295,W,1,10,0.8,-0.84,M,-32.96,M,,*76 : Parosci.cc -- Parosci initial pressure period = 30.138450 : Parosci.cc -- Parosci initial temp period = 5.841683 : Parosci.cc -- Paroscientific configured. : DynamicControl - Could not open TerrainAid IF. : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,213623.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,213624.00,3648.73241,N,12158.13334,W,1,10,0.8,-1.38,M,-32.96,M,,*70 : NMEA Update: $GPGGA,213624.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,213625.00,3648.73285,N,12158.13242,W,1,10,0.8,-0.34,M,-32.96,M,,*74 : NMEA Update: $GPGGA,213625.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,213626.00,3648.73235,N,12158.13259,W,1,10,0.8,-1.65,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213626.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,213627.00,3648.73228,N,12158.13240,W,1,10,0.8,-1.78,M,-32.96,M,,*7A : NMEA Update: $GPGGA,213627.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,213628.00,3648.73233,N,12158.13231,W,1,10,0.8,-1.74,M,-32.96,M,,*75 : NMEA Update: $GPGGA,213628.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,213629.00,3648.73199,N,12158.13284,W,1,10,0.8,-2.30,M,-32.96,M,,*7A : NMEA Update: $GPGGA,213629.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,213630.00,3648.73204,N,12158.13233,W,1,10,0.8,-1.25,M,-32.96,M,,*7E : NMEA Update: $GPGGA,213630.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,213631.00,3648.73236,N,12158.13193,W,1,10,0.8,-0.88,M,-32.96,M,,*71 : NMEA Update: $GPGGA,213631.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,213632.00,3648.73173,N,12158.13231,W,1,10,0.8,-2.04,M,-32.96,M,,*7D : NMEA Update: $GPGGA,213632.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,213633.00,3648.73231,N,12158.13177,W,1,10,0.8,-0.99,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213633.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,213634.00,3648.73177,N,12158.13187,W,1,10,0.8,-1.10,M,-32.96,M,,*77 : NMEA Update: $GPGGA,213634.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,213635.00,3648.73201,N,12158.13127,W,1,10,0.8,-0.56,M,-32.96,M,,*7D : NMEA Update: $GPGGA,213635.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,213636.00,3648.73209,N,12158.13116,W,1,10,0.8,-0.72,M,-32.96,M,,*72 : NMEA Update: $GPGGA,213636.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,213637.00,3648.73181,N,12158.13116,W,1,10,0.8,-1.24,M,-32.96,M,,*72 : NMEA Update: $GPGGA,213637.24,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : 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 : AshtechGps::processRecord() - $GPGGA,213638.00,3648.73212,N,12158.13080,W,1,10,0.8,-0.97,M,-32.96,M,,*73 : **** 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 *** : NMEA Update: $GPGGA,213638.24,3648.7321,N,-12158.1308,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,213639.00,3648.73170,N,12158.13101,W,1,10,0.8,-1.73,M,-32.96,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 2 of 5 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213639.24,3648.7317,N,-12158.1310,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,213640.00,3648.73170,N,12158.13105,W,1,10,0.8,-1.84,M,-32.96,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 3 of 5 needed : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213640.24,3648.7317,N,-12158.1311,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,213641.00,3648.73233,N,12158.13043,W,1,10,0.8,-0.76,M,-32.96,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 4 of 5 needed : NMEA Update: $GPGGA,213641.24,3648.7323,N,-12158.1304,W,1,03,00.5,078.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213642.00,3648.73171,N,12158.13053,W,1,10,0.8,-1.22,M,-32.96,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 5 of 5 needed : LayeredControl::execute() -- (t = 3.799740) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3.799740) Behavior descend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213642.24,3648.7317,N,-12158.1305,W,1,03,00.5,080.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213643.00,3648.73158,N,12158.13067,W,1,10,0.8,-1.66,M,-32.96,M,,*74 : NMEA Update: $GPGGA,213643.24,3648.7316,N,-12158.1306,W,1,03,00.5,078.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213644.00,3648.73143,N,12158.13054,W,1,10,0.8,-1.74,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213644.24,3648.7314,N,-12158.1305,W,1,03,00.5,078.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213645.00,3648.73188,N,12158.13013,W,1,10,0.8,-0.68,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213645.24,3648.7319,N,-12158.1301,W,1,03,00.5,080.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213646.00,3648.73131,N,12158.13024,W,1,10,0.8,-1.16,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213646.24,3648.7313,N,-12158.1302,W,1,03,00.5,077.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213647.00,3648.73151,N,12158.12984,W,1,10,0.8,-0.48,M,-32.96,M,,*71 : NMEA Update: $GPGGA,213647.24,3648.7315,N,-12158.1298,W,1,03,00.5,078.9,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213648.00,3648.73086,N,12158.13009,W,1,10,0.8,-1.37,M,-32.96,M,,*71 : NMEA Update: $GPGGA,213648.24,3648.7308,N,-12158.1301,W,1,03,00.5,080.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213649.00,3648.73104,N,12158.13001,W,1,10,0.8,-1.02,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213649.24,3648.7310,N,-12158.1300,W,1,03,00.5,079.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213650.00,3648.73033,N,12158.13054,W,1,10,0.8,-1.42,M,-32.96,M,,*7C : NMEA Update: $GPGGA,213650.24,3648.7303,N,-12158.1306,W,1,03,00.5,076.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213651.00,3648.73078,N,12158.13019,W,1,10,0.8,-0.36,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213651.24,3648.7308,N,-12158.1302,W,1,03,00.5,080.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213652.00,3648.73051,N,12158.13030,W,1,10,0.8,-0.66,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213652.24,3648.7305,N,-12158.1303,W,1,03,00.5,078.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213653.00,3648.73018,N,12158.13049,W,1,10,0.8,-0.78,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213653.24,3648.7301,N,-12158.1305,W,1,03,00.5,078.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213654.00,3648.72998,N,12158.13040,W,1,10,0.8,-0.55,M,-32.96,M,,*73 : NMEA Update: $GPGGA,213654.24,3648.7299,N,-12158.1304,W,1,03,00.5,080.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,213655.00,3648.73008,N,12158.13038,W,1,10,0.8,-0.44,M,-32.96,M,,*7C : NMEA Update: $GPGGA,213655.24,3648.7301,N,-12158.1304,W,1,03,00.5,078.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213656.00,3648.72922,N,12158.13110,W,1,09,0.9,-1.77,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213656.24,3648.7292,N,-12158.1312,W,1,03,00.5,077.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213657.00,3648.72959,N,12158.13056,W,1,09,0.9,-0.84,M,-32.96,M,,*7F : NMEA Update: $GPGGA,213657.24,3648.7295,N,-12158.1306,W,1,03,00.5,081.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213658.00,3648.72854,N,12158.13160,W,1,09,0.9,-2.07,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213658.24,3648.7285,N,-12158.1316,W,1,03,00.5,078.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213659.00,3648.72847,N,12158.13179,W,1,09,0.9,-1.75,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213659.24,3648.7284,N,-12158.1319,W,1,03,00.5,079.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213700.00,3648.72857,N,12158.13197,W,1,09,0.9,-0.94,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213700.23,3648.7285,N,-12158.1321,W,1,03,00.5,079.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213701.00,3648.72787,N,12158.13307,W,1,09,0.9,-1.51,M,-32.96,M,,*7E : NMEA Update: $GPGGA,213701.23,3648.7278,N,-12158.1332,W,1,03,00.5,078.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213702.00,3648.72788,N,12158.13323,W,1,09,0.9,-0.86,M,-32.96,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213702.23,3648.7278,N,-12158.1333,W,1,03,00.5,079.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213703.00,3648.72737,N,12158.13369,W,1,09,0.9,-0.91,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213703.23,3648.7273,N,-12158.1338,W,1,03,00.5,079.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213704.00,3648.72702,N,12158.13423,W,1,09,0.9,-1.13,M,-32.96,M,,*71 : NMEA Update: $GPGGA,213704.23,3648.7270,N,-12158.1343,W,1,03,00.5,080.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213705.00,3648.72676,N,12158.13470,W,1,09,0.9,-1.06,M,-32.96,M,,*70 : NMEA Update: $GPGGA,213705.23,3648.7267,N,-12158.1348,W,1,03,00.5,079.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213706.00,3648.72639,N,12158.13527,W,1,09,0.9,-1.60,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213706.23,3648.7264,N,-12158.1353,W,1,03,00.5,079.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213707.00,3648.72629,N,12158.13577,W,1,09,0.9,-2.33,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213707.23,3648.7263,N,-12158.1358,W,1,03,00.5,078.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213708.00,3648.72679,N,12158.13573,W,1,09,0.9,-3.01,M,-32.96,M,,*75 : NMEA Update: $GPGGA,213708.23,3648.7268,N,-12158.1358,W,1,03,00.5,079.4,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213709.00,3648.72643,N,12158.13654,W,1,09,0.9,-2.69,M,-32.96,M,,*74 : NMEA Update: $GPGGA,213709.23,3648.7264,N,-12158.1366,W,1,03,00.5,078.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213710.00,3648.72496,N,12158.13799,W,1,08,1.0,-1.71,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213710.23,3648.7249,N,-12158.1381,W,1,03,00.5,080.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213711.23,3648.7249,N,-12158.1384,W,1,03,00.5,079.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213712.23,3648.7249,N,-12158.1390,W,1,03,00.5,076.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213713.23,3648.7248,N,-12158.1395,W,1,03,00.5,076.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213714.23,3648.7248,N,-12158.1401,W,1,03,00.5,077.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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 : maxNorthingCov = 30.00 : maxEastingCov = 30.00 : maxNorthingError = 30.00 : maxEastingError = 30.00 : 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 : NMEA Update: $GPGGA,213715.23,3648.7247,N,-12158.1407,W,1,03,00.5,077.5,M,-99.9,M,,*44 : 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 : PeriodicTask::run() (terrainAidDriver) - sampleInterval=10000, maxInterval=10000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213716.23,3648.7247,N,-12158.1414,W,1,03,00.5,077.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213717.23,3648.7245,N,-12158.1420,W,1,03,00.5,076.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213718.23,3648.7244,N,-12158.1425,W,1,03,00.5,076.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213719.23,3648.7242,N,-12158.1429,W,1,03,00.5,076.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213720.23,3648.7240,N,-12158.1435,W,1,03,00.5,075.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213721.23,3648.7239,N,-12158.1441,W,1,03,00.5,076.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213722.23,3648.7238,N,-12158.1447,W,1,03,00.5,075.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213723.23,3648.7237,N,-12158.1455,W,1,03,00.5,075.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213724.23,3648.7237,N,-12158.1463,W,1,03,00.5,073.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213725.23,3648.7236,N,-12158.1469,W,1,03,00.5,074.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainAidDriver:: _navTime0 = 1246311445.08 : TerrainAidDriver:: _dvlTime0 = 77843.31 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074519.48, 591950.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213726.23,3648.7234,N,-12158.1475,W,1,03,00.5,073.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : 50.00 : Estimated East Bias at time = 0.00 : 32.00 : Estimated Depth Bias at time = 0.00 : 0.15 : Estimated northing and easting = 4074569.48 : 591982.53 : NMEA Update: $GPGGA,213727.23,3648.7233,N,-12158.1481,W,1,03,00.5,073.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213728.23,3648.7233,N,-12158.1488,W,1,03,00.5,073.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213729.23,3648.7232,N,-12158.1496,W,1,03,00.5,071.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213730.23,3648.7230,N,-12158.1504,W,1,03,00.5,073.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213731.23,3648.7229,N,-12158.1511,W,1,03,00.5,071.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213732.23,3648.7227,N,-12158.1519,W,1,03,00.5,070.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213733.23,3648.7225,N,-12158.1526,W,1,03,00.5,071.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213734.23,3648.7224,N,-12158.1534,W,1,03,00.5,070.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213735.23,3648.7222,N,-12158.1542,W,1,03,00.5,070.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4074516.91, 591939.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213736.23,3648.7222,N,-12158.1552,W,1,03,00.5,069.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 10.00 : 46.00 : Estimated East Bias at time = 10.00 : -44.00 : Estimated Depth Bias at time = 10.00 : 0.79 : Estimated northing and easting = 4074562.91 : 591895.61 : AshtechGps::processRecord() - $GPGGA,213737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213737.23,3648.7221,N,-12158.1561,W,1,03,00.5,068.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213738.23,3648.7221,N,-12158.1569,W,1,03,00.5,068.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213739.23,3648.7221,N,-12158.1577,W,1,03,00.5,067.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213740.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213740.23,3648.7220,N,-12158.1583,W,1,03,00.5,066.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213741.23,3648.7219,N,-12158.1590,W,1,03,00.5,067.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213742.23,3648.7218,N,-12158.1597,W,1,03,00.5,066.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213743.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213743.23,3648.7217,N,-12158.1604,W,1,03,00.5,065.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213744.23,3648.7216,N,-12158.1613,W,1,03,00.5,064.4,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,213745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213745.23,3648.7215,N,-12158.1621,W,1,03,00.5,065.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4074515.43, 591927.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213746.23,3648.7214,N,-12158.1631,W,1,03,00.5,064.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 20.00 : 24.00 : Estimated East Bias at time = 20.00 : 32.00 : Estimated Depth Bias at time = 20.00 : 0.90 : Estimated northing and easting = 4074539.43 : 591959.87 : AshtechGps::processRecord() - $GPGGA,213747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213747.23,3648.7212,N,-12158.1640,W,1,03,00.5,063.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213748.23,3648.7210,N,-12158.1649,W,1,03,00.5,063.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213749.23,3648.7208,N,-12158.1657,W,1,03,00.5,062.8,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,213750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213750.23,3648.7206,N,-12158.1665,W,1,03,00.5,062.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213751.23,3648.7205,N,-12158.1674,W,1,03,00.5,062.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213752.23,3648.7204,N,-12158.1682,W,1,03,00.5,062.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213753.23,3648.7203,N,-12158.1690,W,1,03,00.5,060.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213754.23,3648.7203,N,-12158.1698,W,1,03,00.5,061.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213755.23,3648.7202,N,-12158.1706,W,1,03,00.5,060.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074512.90, 591915.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213756.23,3648.7201,N,-12158.1714,W,1,03,00.5,059.0,M,-99.9,M,,*49 : Estimated North Bias at time = 30.00 : 42.00 : Estimated East Bias at time = 30.00 : -5.00 : Estimated Depth Bias at time = 30.00 : 0.21 : Estimated northing and easting = 4074554.90 : 591910.31 : AshtechGps::processRecord() - $GPGGA,213757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213757.23,3648.7200,N,-12158.1722,W,1,03,00.5,058.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213758.23,3648.7198,N,-12158.1730,W,1,03,00.5,059.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213759.23,3648.7197,N,-12158.1739,W,1,03,00.5,058.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213800.23,3648.7195,N,-12158.1748,W,1,03,00.5,057.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213801.23,3648.7194,N,-12158.1757,W,1,03,00.5,056.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213802.23,3648.7192,N,-12158.1766,W,1,03,00.5,056.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213803.23,3648.7191,N,-12158.1775,W,1,03,00.5,055.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213804.23,3648.7190,N,-12158.1784,W,1,03,00.5,055.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213805.23,3648.7188,N,-12158.1792,W,1,03,00.5,054.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4074510.22, 591902.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213806.23,3648.7187,N,-12158.1801,W,1,03,00.5,055.0,M,-99.9,M,,*49 : Estimated North Bias at time = 40.00 : 33.00 : Estimated East Bias at time = 40.00 : 24.00 : Estimated Depth Bias at time = 40.00 : -0.09 : Estimated northing and easting = 4074543.22 : 591926.53 : AshtechGps::processRecord() - $GPGGA,213807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213807.23,3648.7187,N,-12158.1809,W,1,03,00.5,054.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213808.23,3648.7186,N,-12158.1818,W,1,03,00.5,053.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213809.23,3648.7186,N,-12158.1826,W,1,03,00.5,053.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213810.23,3648.7185,N,-12158.1834,W,1,03,00.5,052.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213811.23,3648.7185,N,-12158.1842,W,1,03,00.5,051.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213812.23,3648.7184,N,-12158.1851,W,1,03,00.5,051.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213813.23,3648.7184,N,-12158.1860,W,1,03,00.5,050.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213814.23,3648.7183,N,-12158.1869,W,1,03,00.5,049.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213815.23,3648.7182,N,-12158.1878,W,1,03,00.5,049.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4074508.96, 591889.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213816.23,3648.7181,N,-12158.1887,W,1,03,00.5,049.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 50.00 : 34.00 : Estimated East Bias at time = 50.00 : 24.00 : Estimated Depth Bias at time = 50.00 : -0.13 : Estimated northing and easting = 4074542.96 : 591913.76 : NMEA Update: $GPGGA,213817.23,3648.7181,N,-12158.1896,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,213818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213818.23,3648.7180,N,-12158.1905,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213819.23,3648.7179,N,-12158.1914,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,213820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213820.23,3648.7179,N,-12158.1923,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,213821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213821.23,3648.7178,N,-12158.1932,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213822.23,3648.7178,N,-12158.1941,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,213823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213823.23,3648.7177,N,-12158.1950,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,213824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213824.23,3648.7176,N,-12158.1959,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,213825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213825.23,3648.7176,N,-12158.1968,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074507.65, 591876.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 42.175845 > 42.000000 at time 107.792616 : LayeredControl::execute() -- (t = 107.792616) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 107.79 (wplog) The current location (N,E) = 4074507.6 , 591875.9 (wplog) The next waypoint = 4074713.1 , 591412.4 (wplog) The bearing to the next w.p. is 293.9 Degrees. : LayeredControl::execute() -- (t = 107.792616) Behavior waypoint:-1 has changed to state Active : Estimated North Bias at time = 60.00 : 34.00 : Estimated East Bias at time = 60.00 : 24.00 : Estimated Depth Bias at time = 60.00 : -0.13 : Estimated northing and easting = 4074541.65 : 591900.41 : NMEA Update: $GPGGA,213826.23,3648.7175,N,-12158.1977,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,213827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213827.23,3648.7174,N,-12158.1986,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,213828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213828.23,3648.7174,N,-12158.1996,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213829.23,3648.7173,N,-12158.2005,W,1,03,00.5,041.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213830.23,3648.7173,N,-12158.2014,W,1,03,00.5,040.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213831.23,3648.7173,N,-12158.2023,W,1,03,00.5,040.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213832.23,3648.7174,N,-12158.2033,W,1,03,00.5,040.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213833.23,3648.7176,N,-12158.2042,W,1,03,00.5,039.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213834.23,3648.7178,N,-12158.2051,W,1,03,00.5,039.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213835.23,3648.7180,N,-12158.2059,W,1,03,00.5,039.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4074508.37, 591862.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213836.23,3648.7183,N,-12158.2067,W,1,03,00.5,040.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 70.00 : 48.00 : Estimated East Bias at time = 70.00 : -7.00 : Estimated Depth Bias at time = 70.00 : 0.11 : Estimated northing and easting = 4074556.37 : 591855.91 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213837.23,3648.7186,N,-12158.2075,W,1,03,00.5,040.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213838.23,3648.7190,N,-12158.2082,W,1,03,00.5,040.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213839.23,3648.7194,N,-12158.2089,W,1,03,00.5,041.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213840.23,3648.7198,N,-12158.2096,W,1,03,00.5,040.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213841.04,3648.7202,N,-12158.2102,W,1,03,00.5,040.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213842.04,3648.7207,N,-12158.2109,W,1,03,00.5,041.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213843.04,3648.7212,N,-12158.2116,W,1,03,00.5,040.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213844.04,3648.7217,N,-12158.2124,W,1,03,00.5,040.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213845.04,3648.7222,N,-12158.2131,W,1,03,00.5,040.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4074516.21, 591851.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213846.04,3648.7226,N,-12158.2139,W,1,03,00.5,040.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 79.99 : 46.00 : Estimated East Bias at time = 79.99 : -9.00 : Estimated Depth Bias at time = 79.99 : -0.06 : Estimated northing and easting = 4074562.21 : 591842.87 : NMEA Update: $GPGGA,213847.04,3648.7231,N,-12158.2146,W,1,03,00.5,040.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213848.04,3648.7236,N,-12158.2154,W,1,03,00.5,040.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213849.04,3648.7240,N,-12158.2161,W,1,03,00.5,040.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213850.04,3648.7245,N,-12158.2169,W,1,03,00.5,040.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213851.04,3648.7249,N,-12158.2177,W,1,03,00.5,040.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213852.04,3648.7254,N,-12158.2185,W,1,03,00.5,041.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213853.04,3648.7258,N,-12158.2194,W,1,03,00.5,040.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213854.04,3648.7263,N,-12158.2202,W,1,03,00.5,040.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213855.04,3648.7267,N,-12158.2211,W,1,03,00.5,040.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074524.40, 591839.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213856.04,3648.7271,N,-12158.2219,W,1,03,00.5,040.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 89.99 : 45.00 : NMEA Update: $GPGGA,213857.04,3648.7275,N,-12158.2228,W,1,03,00.5,039.6,M,-99.9,M,,*48 : Estimated East Bias at time = 89.99 : -11.00 : Estimated Depth Bias at time = 89.99 : 0.00 : Estimated northing and easting = 4074569.40 : 591828.89 : AshtechGps::processRecord() - $GPGGA,213858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213858.04,3648.7279,N,-12158.2237,W,1,03,00.5,040.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213859.04,3648.7282,N,-12158.2246,W,1,03,00.5,040.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213900.04,3648.7286,N,-12158.2255,W,1,03,00.5,040.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213901.04,3648.7290,N,-12158.2264,W,1,03,00.5,040.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213902.04,3648.7293,N,-12158.2273,W,1,03,00.5,039.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213903.04,3648.7297,N,-12158.2283,W,1,03,00.5,040.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213904.04,3648.7300,N,-12158.2292,W,1,03,00.5,040.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213905.04,3648.7304,N,-12158.2301,W,1,03,00.5,040.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 100.003149 : TerrainNav update at dvl time = 100.003149 : _navData-> (x,y) = (4074531.01, 591826.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213906.04,3648.7307,N,-12158.2311,W,1,03,00.5,040.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213907.04,3648.7310,N,-12158.2320,W,1,03,00.5,039.9,M,-99.9,M,,*48 : Estimated North Bias at time = 100.00 : 47.00 : Estimated East Bias at time = 100.00 : -9.00 : Estimated Depth Bias at time = 100.00 : 0.01 : Estimated northing and easting = 4074578.01 : 591817.36 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213908.04,3648.7314,N,-12158.2330,W,1,03,00.5,039.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213909.04,3648.7317,N,-12158.2339,W,1,03,00.5,040.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213910.04,3648.7321,N,-12158.2349,W,1,03,00.5,040.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213911.04,3648.7324,N,-12158.2358,W,1,03,00.5,040.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213912.04,3648.7327,N,-12158.2367,W,1,03,00.5,040.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213913.04,3648.7331,N,-12158.2376,W,1,03,00.5,040.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213914.04,3648.7334,N,-12158.2385,W,1,03,00.5,040.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213915.04,3648.7337,N,-12158.2395,W,1,03,00.5,040.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 110.002464 : TerrainNav update at dvl time = 110.002464 : _navData-> (x,y) = (4074536.96, 591812.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213916.04,3648.7340,N,-12158.2404,W,1,03,00.5,040.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213917.04,3648.7343,N,-12158.2414,W,1,03,00.5,040.1,M,-99.9,M,,*49 : Estimated North Bias at time = 110.00 : 47.00 : Estimated East Bias at time = 110.00 : -11.00 : Estimated Depth Bias at time = 110.00 : -0.03 : Estimated northing and easting = 4074583.96 : 591801.37 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213918.04,3648.7346,N,-12158.2424,W,1,03,00.5,040.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213919.04,3648.7349,N,-12158.2434,W,1,03,00.5,040.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213920.04,3648.7352,N,-12158.2444,W,1,03,00.5,040.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213921.04,3648.7355,N,-12158.2453,W,1,03,00.5,040.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213922.04,3648.7358,N,-12158.2463,W,1,03,00.5,040.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213923.04,3648.7361,N,-12158.2472,W,1,03,00.5,040.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213924.04,3648.7364,N,-12158.2481,W,1,03,00.5,040.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213925.04,3648.7367,N,-12158.2490,W,1,03,00.5,040.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074542.49, 591798.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213926.04,3648.7371,N,-12158.2499,W,1,03,00.5,040.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213927.03,3648.7374,N,-12158.2508,W,1,03,00.5,040.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : Estimated North Bias at time = 120.00 : 44.00 : Estimated East Bias at time = 120.00 : 20.00 : Estimated Depth Bias at time = 120.00 : 0.04 : Estimated northing and easting = 4074586.49 : 591818.11 : AshtechGps::processRecord() - $GPGGA,213928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213928.03,3648.7377,N,-12158.2518,W,1,03,00.5,040.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213929.03,3648.7381,N,-12158.2527,W,1,03,00.5,040.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213930.03,3648.7384,N,-12158.2536,W,1,03,00.5,040.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,213931.03,3648.7387,N,-12158.2546,W,1,03,00.5,040.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213932.03,3648.7390,N,-12158.2556,W,1,03,00.5,040.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213933.03,3648.7393,N,-12158.2565,W,1,03,00.5,040.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213934.03,3648.7396,N,-12158.2575,W,1,03,00.5,040.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213935.03,3648.7399,N,-12158.2584,W,1,03,00.5,040.0,M,-99.9,M,,*40 : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4074548.16, 591784.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213936.03,3648.7402,N,-12158.2593,W,1,03,00.5,040.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213937.03,3648.7405,N,-12158.2603,W,1,03,00.5,040.3,M,-99.9,M,,*4f : Estimated North Bias at time = 130.00 : 46.00 : Estimated East Bias at time = 130.00 : -12.00 : Estimated Depth Bias at time = 130.00 : 0.12 : Estimated northing and easting = 4074594.16 : 591772.11 : AshtechGps::processRecord() - $GPGGA,213938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213938.03,3648.7408,N,-12158.2612,W,1,03,00.5,040.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213939.03,3648.7411,N,-12158.2621,W,1,03,00.5,040.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213940.03,3648.7415,N,-12158.2629,W,1,03,00.5,040.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213941.03,3648.7418,N,-12158.2638,W,1,03,00.5,040.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213942.03,3648.7422,N,-12158.2647,W,1,03,00.5,040.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213943.03,3648.7425,N,-12158.2656,W,1,03,00.5,040.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213944.03,3648.7429,N,-12158.2665,W,1,03,00.5,040.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213945.03,3648.7432,N,-12158.2674,W,1,03,00.5,040.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4074554.21, 591770.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213946.03,3648.7436,N,-12158.2683,W,1,03,00.5,040.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213947.03,3648.7439,N,-12158.2692,W,1,03,00.5,040.3,M,-99.9,M,,*4f : Estimated North Bias at time = 140.00 : 44.00 : Estimated East Bias at time = 140.00 : 36.00 : Estimated Depth Bias at time = 140.00 : 0.20 : Estimated northing and easting = 4074598.21 : 591806.66 : AshtechGps::processRecord() - $GPGGA,213948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213948.03,3648.7442,N,-12158.2701,W,1,03,00.5,040.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213949.03,3648.7445,N,-12158.2710,W,1,03,00.5,039.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213950.03,3648.7448,N,-12158.2719,W,1,03,00.5,039.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213951.03,3648.7451,N,-12158.2728,W,1,03,00.5,039.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213952.03,3648.7454,N,-12158.2737,W,1,03,00.5,039.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213953.03,3648.7458,N,-12158.2747,W,1,03,00.5,039.6,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,213954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213954.03,3648.7461,N,-12158.2756,W,1,03,00.5,039.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213955.03,3648.7464,N,-12158.2765,W,1,03,00.5,040.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074559.97, 591757.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,213956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213956.03,3648.7468,N,-12158.2773,W,1,03,00.5,040.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,213957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213957.03,3648.7471,N,-12158.2782,W,1,03,00.5,040.5,M,-99.9,M,,*44 : Estimated North Bias at time = 150.00 : 45.00 : Estimated East Bias at time = 150.00 : 18.00 : Estimated Depth Bias at time = 150.00 : 0.29 : Estimated northing and easting = 4074604.97 : 591775.18 : AshtechGps::processRecord() - $GPGGA,213958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213958.03,3648.7474,N,-12158.2791,W,1,03,00.5,040.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213959.03,3648.7478,N,-12158.2799,W,1,03,00.5,040.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214000.03,3648.7481,N,-12158.2808,W,1,03,00.5,040.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214001.03,3648.7484,N,-12158.2817,W,1,03,00.5,040.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214002.03,3648.7488,N,-12158.2826,W,1,03,00.5,040.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214003.03,3648.7491,N,-12158.2835,W,1,03,00.5,039.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214004.03,3648.7494,N,-12158.2844,W,1,03,00.5,039.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214005.03,3648.7497,N,-12158.2853,W,1,03,00.5,039.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4074565.93, 591743.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214006.03,3648.7501,N,-12158.2862,W,1,03,00.5,039.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214007.03,3648.7504,N,-12158.2872,W,1,03,00.5,039.7,M,-99.9,M,,*40 : Estimated North Bias at time = 160.00 : 46.00 : Estimated East Bias at time = 160.00 : 17.00 : Estimated Depth Bias at time = 160.00 : 0.23 : Estimated northing and easting = 4074611.93 : 591760.90 : AshtechGps::processRecord() - $GPGGA,214008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214008.03,3648.7507,N,-12158.2881,W,1,03,00.5,039.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214009.03,3648.7511,N,-12158.2890,W,1,03,00.5,039.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214010.03,3648.7514,N,-12158.2899,W,1,03,00.5,039.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214011.03,3648.7517,N,-12158.2908,W,1,03,00.5,039.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214012.03,3648.7521,N,-12158.2916,W,1,03,00.5,039.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214013.03,3648.7524,N,-12158.2925,W,1,03,00.5,039.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214014.03,3648.7527,N,-12158.2934,W,1,03,00.5,039.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214015.03,3648.7531,N,-12158.2943,W,1,03,00.5,039.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4074571.94, 591730.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214016.03,3648.7534,N,-12158.2952,W,1,03,00.5,039.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214017.03,3648.7537,N,-12158.2961,W,1,03,00.5,039.6,M,-99.9,M,,*43 : Estimated North Bias at time = 170.00 : 44.00 : Estimated East Bias at time = 170.00 : 35.00 : Estimated Depth Bias at time = 170.00 : 0.00 : Estimated northing and easting = 4074615.94 : 591765.56 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214018.03,3648.7541,N,-12158.2970,W,1,03,00.5,039.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214019.03,3648.7544,N,-12158.2979,W,1,03,00.5,039.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214020.03,3648.7548,N,-12158.2988,W,1,03,00.5,039.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214021.03,3648.7551,N,-12158.2997,W,1,03,00.5,039.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214022.03,3648.7555,N,-12158.3006,W,1,03,00.5,039.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214023.03,3648.7558,N,-12158.3015,W,1,03,00.5,039.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214024.03,3648.7561,N,-12158.3024,W,1,03,00.5,039.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214025.03,3648.7564,N,-12158.3033,W,1,03,00.5,039.6,M,-99.9,M,,*4b : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074577.95, 591717.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214026.03,3648.7567,N,-12158.3042,W,1,03,00.5,039.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214027.03,3648.7570,N,-12158.3051,W,1,03,00.5,039.6,M,-99.9,M,,*48 : Estimated North Bias at time = 180.00 : 35.00 : Estimated East Bias at time = 180.00 : 44.00 : Estimated Depth Bias at time = 180.00 : -0.07 : Estimated northing and easting = 4074612.95 : 591761.11 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214028.03,3648.7573,N,-12158.3060,W,1,03,00.5,039.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214029.03,3648.7577,N,-12158.3069,W,1,03,00.5,039.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214030.03,3648.7580,N,-12158.3078,W,1,03,00.5,039.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214031.03,3648.7584,N,-12158.3088,W,1,03,00.5,039.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214032.03,3648.7588,N,-12158.3097,W,1,03,00.5,039.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214033.03,3648.7591,N,-12158.3106,W,1,03,00.5,039.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214034.03,3648.7595,N,-12158.3114,W,1,03,00.5,039.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214035.03,3648.7598,N,-12158.3123,W,1,03,00.5,039.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4074584.08, 591703.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214036.03,3648.7601,N,-12158.3132,W,1,03,00.5,039.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214037.03,3648.7604,N,-12158.3141,W,1,03,00.5,039.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : Estimated North Bias at time = 190.00 : 35.00 : Estimated East Bias at time = 190.00 : 44.00 : Estimated Depth Bias at time = 190.00 : -0.18 : Estimated northing and easting = 4074619.08 : 591747.61 : AshtechGps::processRecord() - $GPGGA,214038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214038.03,3648.7608,N,-12158.3150,W,1,03,00.5,039.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214039.03,3648.7611,N,-12158.3160,W,1,03,00.5,039.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214040.03,3648.7614,N,-12158.3170,W,1,03,00.5,039.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214041.03,3648.7618,N,-12158.3179,W,1,03,00.5,039.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214042.03,3648.7621,N,-12158.3188,W,1,03,00.5,039.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214043.03,3648.7625,N,-12158.3198,W,1,03,00.5,039.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214044.03,3648.7628,N,-12158.3207,W,1,03,00.5,039.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214045.03,3648.7631,N,-12158.3216,W,1,03,00.5,039.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 199.996299 : TerrainNav update at dvl time = 199.996299 : _navData-> (x,y) = (4074590.16, 591689.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214046.03,3648.7635,N,-12158.3224,W,1,03,00.5,040.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214047.03,3648.7638,N,-12158.3233,W,1,03,00.5,039.9,M,-99.9,M,,*48 : Estimated North Bias at time = 200.00 : 26.00 : Estimated East Bias at time = 200.00 : 41.00 : Estimated Depth Bias at time = 200.00 : -0.23 : Estimated northing and easting = 4074616.16 : 591730.79 : AshtechGps::processRecord() - $GPGGA,214048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214048.03,3648.7642,N,-12158.3242,W,1,03,00.5,039.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214049.03,3648.7645,N,-12158.3252,W,1,03,00.5,039.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214050.03,3648.7648,N,-12158.3261,W,1,03,00.5,039.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214051.03,3648.7652,N,-12158.3270,W,1,03,00.5,040.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214052.03,3648.7655,N,-12158.3280,W,1,03,00.5,039.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214053.03,3648.7659,N,-12158.3290,W,1,03,00.5,039.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214054.03,3648.7663,N,-12158.3300,W,1,03,00.5,040.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214055.03,3648.7666,N,-12158.3309,W,1,03,00.5,040.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074596.38, 591675.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214056.03,3648.7669,N,-12158.3318,W,1,03,00.5,040.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214057.03,3648.7672,N,-12158.3327,W,1,03,00.5,040.2,M,-99.9,M,,*46 : Estimated North Bias at time = 210.00 : 27.00 : Estimated East Bias at time = 210.00 : 40.00 : Estimated Depth Bias at time = 210.00 : -0.13 : Estimated northing and easting = 4074623.38 : 591715.79 : AshtechGps::processRecord() - $GPGGA,214058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214058.03,3648.7676,N,-12158.3336,W,1,03,00.5,040.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214059.03,3648.7679,N,-12158.3345,W,1,03,00.5,040.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214100.03,3648.7682,N,-12158.3354,W,1,03,00.5,040.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214101.03,3648.7685,N,-12158.3364,W,1,03,00.5,040.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214102.03,3648.7689,N,-12158.3373,W,1,03,00.5,040.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214103.03,3648.7692,N,-12158.3383,W,1,03,00.5,040.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214104.03,3648.7696,N,-12158.3393,W,1,03,00.5,039.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214105.03,3648.7699,N,-12158.3402,W,1,03,00.5,039.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4074602.41, 591661.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214106.03,3648.7703,N,-12158.3411,W,1,03,00.5,040.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214107.04,3648.7706,N,-12158.3421,W,1,03,00.5,040.3,M,-99.9,M,,*47 : Estimated North Bias at time = 219.99 : 27.00 : Estimated East Bias at time = 219.99 : 40.00 : Estimated Depth Bias at time = 219.99 : -0.07 : Estimated northing and easting = 4074629.41 : 591701.90 : AshtechGps::processRecord() - $GPGGA,214108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214108.04,3648.7710,N,-12158.3430,W,1,03,00.5,040.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214109.04,3648.7713,N,-12158.3439,W,1,03,00.5,040.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214110.04,3648.7717,N,-12158.3448,W,1,03,00.5,039.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214111.04,3648.7720,N,-12158.3458,W,1,03,00.5,040.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214112.04,3648.7723,N,-12158.3467,W,1,03,00.5,040.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214113.04,3648.7727,N,-12158.3476,W,1,03,00.5,039.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214114.04,3648.7730,N,-12158.3485,W,1,03,00.5,040.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214115.04,3648.7733,N,-12158.3494,W,1,03,00.5,040.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4074608.51, 591648.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214116.04,3648.7736,N,-12158.3504,W,1,03,00.5,039.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214117.04,3648.7740,N,-12158.3513,W,1,03,00.5,040.4,M,-99.9,M,,*43 : Estimated North Bias at time = 229.99 : 24.00 : Estimated East Bias at time = 229.99 : 40.00 : Estimated Depth Bias at time = 229.99 : -0.11 : Estimated northing and easting = 4074632.51 : 591688.10 : AshtechGps::processRecord() - $GPGGA,214118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214118.04,3648.7743,N,-12158.3523,W,1,03,00.5,040.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214119.04,3648.7747,N,-12158.3532,W,1,03,00.5,040.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214120.04,3648.7750,N,-12158.3542,W,1,03,00.5,040.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214121.04,3648.7754,N,-12158.3551,W,1,03,00.5,040.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214122.04,3648.7757,N,-12158.3560,W,1,03,00.5,040.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214123.04,3648.7761,N,-12158.3569,W,1,03,00.5,040.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214124.04,3648.7764,N,-12158.3578,W,1,03,00.5,040.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214125.04,3648.7768,N,-12158.3587,W,1,03,00.5,040.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074614.74, 591634.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214126.04,3648.7771,N,-12158.3596,W,1,03,00.5,040.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214127.04,3648.7774,N,-12158.3606,W,1,03,00.5,040.7,M,-99.9,M,,*43 : Estimated North Bias at time = 239.99 : 27.00 : Estimated East Bias at time = 239.99 : 40.00 : Estimated Depth Bias at time = 239.99 : -0.15 : Estimated northing and easting = 4074641.74 : 591674.28 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214128.04,3648.7778,N,-12158.3615,W,1,03,00.5,040.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214129.04,3648.7781,N,-12158.3625,W,1,03,00.5,040.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214130.04,3648.7785,N,-12158.3634,W,1,03,00.5,040.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214131.04,3648.7788,N,-12158.3644,W,1,03,00.5,040.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214132.04,3648.7791,N,-12158.3653,W,1,03,00.5,040.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214133.04,3648.7794,N,-12158.3662,W,1,03,00.5,040.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214134.04,3648.7798,N,-12158.3671,W,1,03,00.5,040.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214135.04,3648.7801,N,-12158.3680,W,1,03,00.5,041.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4074620.87, 591620.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214136.04,3648.7805,N,-12158.3689,W,1,03,00.5,040.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214137.04,3648.7809,N,-12158.3699,W,1,03,00.5,041.1,M,-99.9,M,,*46 : Estimated North Bias at time = 250.00 : 26.00 : Estimated East Bias at time = 250.00 : 41.00 : Estimated Depth Bias at time = 250.00 : -0.16 : Estimated northing and easting = 4074646.87 : 591661.35 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214138.04,3648.7812,N,-12158.3708,W,1,03,00.5,040.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214139.04,3648.7816,N,-12158.3717,W,1,03,00.5,040.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214140.04,3648.7819,N,-12158.3726,W,1,03,00.5,040.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214141.04,3648.7823,N,-12158.3736,W,1,03,00.5,041.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214142.04,3648.7826,N,-12158.3745,W,1,03,00.5,040.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214143.04,3648.7829,N,-12158.3755,W,1,03,00.5,040.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214144.04,3648.7833,N,-12158.3764,W,1,03,00.5,040.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214145.04,3648.7836,N,-12158.3773,W,1,03,00.5,040.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4074627.04, 591606.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214146.04,3648.7839,N,-12158.3782,W,1,03,00.5,040.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214147.04,3648.7842,N,-12158.3791,W,1,03,00.5,041.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : Estimated North Bias at time = 260.00 : 28.00 : Estimated East Bias at time = 260.00 : 41.00 : Estimated Depth Bias at time = 260.00 : -0.14 : Estimated northing and easting = 4074655.04 : 591647.46 : AshtechGps::processRecord() - $GPGGA,214148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214148.04,3648.7846,N,-12158.3800,W,1,03,00.5,041.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214149.04,3648.7849,N,-12158.3809,W,1,03,00.5,041.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214150.04,3648.7852,N,-12158.3819,W,1,03,00.5,041.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214151.04,3648.7856,N,-12158.3828,W,1,03,00.5,041.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214152.04,3648.7859,N,-12158.3838,W,1,03,00.5,041.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214153.03,3648.7863,N,-12158.3847,W,1,03,00.5,041.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214154.03,3648.7866,N,-12158.3857,W,1,03,00.5,041.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214155.03,3648.7870,N,-12158.3866,W,1,03,00.5,041.1,M,-99.9,M,,*45 : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074633.21, 591592.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214156.03,3648.7873,N,-12158.3875,W,1,03,00.5,041.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214157.03,3648.7877,N,-12158.3884,W,1,03,00.5,041.1,M,-99.9,M,,*4c : Estimated North Bias at time = 270.00 : 28.00 : Estimated East Bias at time = 270.00 : 42.00 : Estimated Depth Bias at time = 270.00 : -0.10 : Estimated northing and easting = 4074661.21 : 591634.60 : AshtechGps::processRecord() - $GPGGA,214158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214158.03,3648.7880,N,-12158.3893,W,1,03,00.5,041.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214159.03,3648.7884,N,-12158.3903,W,1,03,00.5,041.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214200.03,3648.7887,N,-12158.3912,W,1,03,00.5,041.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214201.03,3648.7891,N,-12158.3921,W,1,03,00.5,041.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214202.03,3648.7894,N,-12158.3930,W,1,03,00.5,041.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214203.03,3648.7897,N,-12158.3939,W,1,03,00.5,041.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214204.03,3648.7900,N,-12158.3949,W,1,03,00.5,041.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214205.03,3648.7903,N,-12158.3958,W,1,03,00.5,041.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 280.000818 : TerrainNav update at dvl time = 280.000818 : _navData-> (x,y) = (4074639.27, 591578.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214206.03,3648.7907,N,-12158.3968,W,1,03,00.5,041.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214207.03,3648.7910,N,-12158.3977,W,1,03,00.5,041.0,M,-99.9,M,,*46 : Estimated North Bias at time = 280.00 : 29.00 : Estimated East Bias at time = 280.00 : 42.00 : Estimated Depth Bias at time = 280.00 : 0.00 : Estimated northing and easting = 4074668.27 : 591620.80 : AshtechGps::processRecord() - $GPGGA,214208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214208.03,3648.7914,N,-12158.3987,W,1,03,00.5,041.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214209.03,3648.7918,N,-12158.3996,W,1,03,00.5,041.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214210.03,3648.7921,N,-12158.4005,W,1,03,00.5,041.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214211.03,3648.7925,N,-12158.4014,W,1,03,00.5,041.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214212.03,3648.7929,N,-12158.4022,W,1,03,00.5,041.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214213.03,3648.7932,N,-12158.4031,W,1,03,00.5,041.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214214.03,3648.7936,N,-12158.4040,W,1,03,00.5,041.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214215.03,3648.7939,N,-12158.4050,W,1,03,00.5,041.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4074645.64, 591565.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214216.03,3648.7942,N,-12158.4059,W,1,03,00.5,041.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214217.03,3648.7945,N,-12158.4068,W,1,03,00.5,041.1,M,-99.9,M,,*46 : Estimated North Bias at time = 290.00 : 32.00 : Estimated East Bias at time = 290.00 : 42.00 : Estimated Depth Bias at time = 290.00 : 0.03 : Estimated northing and easting = 4074677.64 : 591607.16 : AshtechGps::processRecord() - $GPGGA,214218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214218.03,3648.7948,N,-12158.4078,W,1,03,00.5,041.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214219.03,3648.7952,N,-12158.4088,W,1,03,00.5,041.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214220.03,3648.7955,N,-12158.4097,W,1,03,00.5,041.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214221.03,3648.7958,N,-12158.4106,W,1,03,00.5,041.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214222.03,3648.7962,N,-12158.4116,W,1,03,00.5,041.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214223.03,3648.7965,N,-12158.4125,W,1,03,00.5,041.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214224.03,3648.7969,N,-12158.4134,W,1,03,00.5,041.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214225.03,3648.7972,N,-12158.4143,W,1,03,00.5,041.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074651.72, 591551.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214226.03,3648.7976,N,-12158.4152,W,1,03,00.5,041.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214227.03,3648.7979,N,-12158.4161,W,1,03,00.5,041.1,M,-99.9,M,,*42 : Estimated North Bias at time = 300.00 : 15.00 : Estimated East Bias at time = 300.00 : 37.00 : Estimated Depth Bias at time = 300.00 : -0.07 : Estimated northing and easting = 4074666.72 : 591588.29 : AshtechGps::processRecord() - $GPGGA,214228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214228.03,3648.7983,N,-12158.4170,W,1,03,00.5,041.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214229.03,3648.7986,N,-12158.4179,W,1,03,00.5,041.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214230.03,3648.7989,N,-12158.4188,W,1,03,00.5,041.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214231.03,3648.7992,N,-12158.4197,W,1,03,00.5,040.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214232.03,3648.7995,N,-12158.4207,W,1,03,00.5,041.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214233.03,3648.7999,N,-12158.4216,W,1,03,00.5,041.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214234.03,3648.8002,N,-12158.4226,W,1,03,00.5,041.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214235.03,3648.8005,N,-12158.4235,W,1,03,00.5,041.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4074657.62, 591537.41) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214236.03,3648.8008,N,-12158.4245,W,1,03,00.5,041.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214237.03,3648.8012,N,-12158.4254,W,1,03,00.5,041.1,M,-99.9,M,,*4d : Estimated North Bias at time = 310.00 : 15.00 : Estimated East Bias at time = 310.00 : 37.00 : Estimated Depth Bias at time = 310.00 : -0.10 : Estimated northing and easting = 4074672.62 : 591574.41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214238.03,3648.8015,N,-12158.4263,W,1,03,00.5,041.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214239.03,3648.8018,N,-12158.4272,W,1,03,00.5,041.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214240.03,3648.8022,N,-12158.4281,W,1,03,00.5,041.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214241.03,3648.8025,N,-12158.4290,W,1,03,00.5,041.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214242.03,3648.8028,N,-12158.4299,W,1,03,00.5,041.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214243.03,3648.8032,N,-12158.4308,W,1,03,00.5,041.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214244.03,3648.8035,N,-12158.4317,W,1,03,00.5,041.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214245.03,3648.8039,N,-12158.4327,W,1,03,00.5,041.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4074663.71, 591523.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214246.03,3648.8042,N,-12158.4336,W,1,03,00.5,041.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214247.03,3648.8046,N,-12158.4345,W,1,03,00.5,041.1,M,-99.9,M,,*4a : Estimated North Bias at time = 320.00 : 15.00 : Estimated East Bias at time = 320.00 : 39.00 : Estimated Depth Bias at time = 320.00 : -0.15 : Estimated northing and easting = 4074678.71 : 591562.77 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214248.03,3648.8049,N,-12158.4355,W,1,03,00.5,041.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214249.03,3648.8052,N,-12158.4364,W,1,03,00.5,041.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214250.03,3648.8055,N,-12158.4373,W,1,03,00.5,041.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214251.03,3648.8059,N,-12158.4383,W,1,03,00.5,041.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214252.03,3648.8062,N,-12158.4392,W,1,03,00.5,041.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214253.03,3648.8065,N,-12158.4401,W,1,03,00.5,041.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214254.03,3648.8069,N,-12158.4411,W,1,03,00.5,041.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214255.03,3648.8073,N,-12158.4420,W,1,03,00.5,041.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074669.80, 591509.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214256.03,3648.8076,N,-12158.4429,W,1,03,00.5,041.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214257.03,3648.8080,N,-12158.4438,W,1,03,00.5,041.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : Estimated North Bias at time = 330.00 : 15.00 : Estimated East Bias at time = 330.00 : 38.00 : Estimated Depth Bias at time = 330.00 : -0.06 : Estimated northing and easting = 4074684.80 : 591547.87 : AshtechGps::processRecord() - $GPGGA,214258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214258.03,3648.8084,N,-12158.4447,W,1,03,00.5,041.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214259.03,3648.8087,N,-12158.4456,W,1,03,00.5,041.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214300.03,3648.8091,N,-12158.4465,W,1,03,00.5,041.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214301.03,3648.8094,N,-12158.4474,W,1,03,00.5,041.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214302.03,3648.8098,N,-12158.4483,W,1,03,00.5,041.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214303.03,3648.8101,N,-12158.4492,W,1,03,00.5,041.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214304.03,3648.8104,N,-12158.4501,W,1,03,00.5,041.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214305.03,3648.8107,N,-12158.4510,W,1,03,00.5,041.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4074676.07, 591496.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214306.03,3648.8110,N,-12158.4519,W,1,03,00.5,041.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214307.03,3648.8114,N,-12158.4529,W,1,03,00.5,041.4,M,-99.9,M,,*40 : Estimated North Bias at time = 340.00 : 15.00 : Estimated East Bias at time = 340.00 : 38.00 : Estimated Depth Bias at time = 340.00 : -0.01 : Estimated northing and easting = 4074691.07 : 591534.38 : AshtechGps::processRecord() - $GPGGA,214308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214308.03,3648.8117,N,-12158.4539,W,1,03,00.5,041.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214309.03,3648.8120,N,-12158.4548,W,1,03,00.5,041.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214310.03,3648.8123,N,-12158.4558,W,1,03,00.5,041.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214311.03,3648.8127,N,-12158.4567,W,1,03,00.5,041.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214312.03,3648.8130,N,-12158.4576,W,1,03,00.5,042.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214313.03,3648.8133,N,-12158.4584,W,1,03,00.5,041.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214314.03,3648.8137,N,-12158.4593,W,1,03,00.5,041.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214315.03,3648.8140,N,-12158.4602,W,1,03,00.5,041.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4074682.07, 591482.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214316.03,3648.8144,N,-12158.4611,W,1,03,00.5,041.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214317.03,3648.8148,N,-12158.4620,W,1,03,00.5,041.7,M,-99.9,M,,*41 : Estimated North Bias at time = 350.00 : 15.00 : Estimated East Bias at time = 350.00 : 39.00 : Estimated Depth Bias at time = 350.00 : 0.03 : Estimated northing and easting = 4074697.07 : 591521.72 : AshtechGps::processRecord() - $GPGGA,214318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214318.03,3648.8151,N,-12158.4629,W,1,03,00.5,041.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214319.03,3648.8154,N,-12158.4638,W,1,03,00.5,041.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214320.03,3648.8157,N,-12158.4647,W,1,03,00.5,041.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214321.03,3648.8161,N,-12158.4656,W,1,03,00.5,041.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214322.03,3648.8164,N,-12158.4665,W,1,03,00.5,041.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214323.03,3648.8167,N,-12158.4675,W,1,03,00.5,041.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214324.03,3648.8170,N,-12158.4684,W,1,03,00.5,041.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214325.03,3648.8173,N,-12158.4693,W,1,03,00.5,041.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074687.99, 591468.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214326.03,3648.8177,N,-12158.4703,W,1,03,00.5,041.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214327.03,3648.8180,N,-12158.4712,W,1,03,00.5,041.7,M,-99.9,M,,*46 : Estimated North Bias at time = 360.00 : 15.00 : Estimated East Bias at time = 360.00 : 38.00 : Estimated Depth Bias at time = 360.00 : 0.07 : Estimated northing and easting = 4074702.99 : 591506.98 : AshtechGps::processRecord() - $GPGGA,214328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214328.03,3648.8183,N,-12158.4721,W,1,03,00.5,041.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214329.03,3648.8187,N,-12158.4730,W,1,03,00.5,042.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214330.03,3648.8190,N,-12158.4739,W,1,03,00.5,042.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214331.03,3648.8194,N,-12158.4748,W,1,03,00.5,042.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214332.03,3648.8197,N,-12158.4757,W,1,03,00.5,041.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214333.04,3648.8201,N,-12158.4766,W,1,03,00.5,041.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214334.04,3648.8204,N,-12158.4775,W,1,03,00.5,042.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214335.04,3648.8207,N,-12158.4785,W,1,03,00.5,042.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4074694.12, 591455.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214336.04,3648.8211,N,-12158.4794,W,1,03,00.5,041.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214337.04,3648.8214,N,-12158.4803,W,1,03,00.5,041.8,M,-99.9,M,,*4e : Estimated North Bias at time = 369.99 : 14.00 : Estimated East Bias at time = 369.99 : 42.00 : Estimated Depth Bias at time = 369.99 : 0.18 : Estimated northing and easting = 4074708.12 : 591497.37 : AshtechGps::processRecord() - $GPGGA,214338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214338.04,3648.8217,N,-12158.4812,W,1,03,00.5,042.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214339.04,3648.8220,N,-12158.4821,W,1,03,00.5,042.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214340.04,3648.8223,N,-12158.4831,W,1,03,00.5,041.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214341.04,3648.8226,N,-12158.4840,W,1,03,00.5,042.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214342.04,3648.8230,N,-12158.4849,W,1,03,00.5,042.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214343.04,3648.8233,N,-12158.4858,W,1,03,00.5,042.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214344.04,3648.8236,N,-12158.4868,W,1,03,00.5,042.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214345.04,3648.8240,N,-12158.4877,W,1,03,00.5,042.0,M,-99.9,M,,*42 : TerrainNav update at nav time = 379.993968 : TerrainNav update at dvl time = 379.993968 : _navData-> (x,y) = (4074699.99, 591441.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214346.04,3648.8243,N,-12158.4887,W,1,03,00.5,042.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214347.04,3648.8247,N,-12158.4896,W,1,03,00.5,042.2,M,-99.9,M,,*4a : Estimated North Bias at time = 379.99 : 14.00 : Estimated East Bias at time = 379.99 : 42.00 : Estimated Depth Bias at time = 379.99 : 0.26 : Estimated northing and easting = 4074713.99 : 591483.51 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214348.04,3648.8250,N,-12158.4905,W,1,03,00.5,042.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214349.04,3648.8254,N,-12158.4915,W,1,03,00.5,042.1,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214350.04,3648.8257,N,-12158.4924,W,1,03,00.5,042.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214351.04,3648.8261,N,-12158.4932,W,1,03,00.5,042.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214352.04,3648.8264,N,-12158.4941,W,1,03,00.5,042.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214353.04,3648.8268,N,-12158.4950,W,1,03,00.5,042.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214354.04,3648.8271,N,-12158.4960,W,1,03,00.5,042.6,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214355.04,3648.8274,N,-12158.4969,W,1,03,00.5,042.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074706.24, 591427.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214356.04,3648.8278,N,-12158.4979,W,1,03,00.5,042.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214357.04,3648.8281,N,-12158.4989,W,1,03,00.5,042.6,M,-99.9,M,,*4a : Estimated North Bias at time = 389.99 : 15.00 : Estimated East Bias at time = 389.99 : 42.00 : Estimated Depth Bias at time = 389.99 : 0.35 : Estimated northing and easting = 4074721.24 : 591469.76 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214358.04,3648.8285,N,-12158.4998,W,1,03,00.5,042.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214359.04,3648.8288,N,-12158.5007,W,1,03,00.5,042.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214400.04,3648.8292,N,-12158.5016,W,1,03,00.5,042.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214401.04,3648.8295,N,-12158.5025,W,1,03,00.5,042.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214402.04,3648.8299,N,-12158.5034,W,1,03,00.5,043.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214403.04,3648.8303,N,-12158.5043,W,1,03,00.5,043.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214404.04,3648.8306,N,-12158.5052,W,1,03,00.5,043.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214405.04,3648.8310,N,-12158.5061,W,1,03,00.5,043.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4074712.61, 591414.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=5.13 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214406.04,3648.8313,N,-12158.5070,W,1,03,00.5,043.3,M,-99.9,M,,*49 : Waypoint has set the state to finished. : Waypoint (4074713.1, 591412.4), reached at t = 448.60 (wplog) : Vehicle Position is error is (-0.2, 0.0) : LayeredControl::execute() -- (t = 448.599269) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 448.60 (wplog) The current location (N,E) = 4074713.3 , 591412.4 (wplog) The next waypoint = 4074685.3 , 591271.6 (wplog) The bearing to the next w.p. is 258.7 Degrees. : LayeredControl::execute() -- (t = 448.599269) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,214407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214407.04,3648.8316,N,-12158.5080,W,1,03,00.5,043.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : Estimated North Bias at time = 400.00 : 14.00 : Estimated East Bias at time = 400.00 : 41.00 : Estimated Depth Bias at time = 400.00 : 0.54 : Estimated northing and easting = 4074726.61 : 591455.06 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214408.04,3648.8320,N,-12158.5089,W,1,03,00.5,043.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214409.04,3648.8323,N,-12158.5099,W,1,03,00.5,043.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214410.04,3648.8325,N,-12158.5109,W,1,03,00.5,043.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214411.04,3648.8327,N,-12158.5119,W,1,03,00.5,043.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214412.04,3648.8328,N,-12158.5129,W,1,03,00.5,044.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214413.04,3648.8327,N,-12158.5138,W,1,03,00.5,044.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214414.04,3648.8327,N,-12158.5146,W,1,03,00.5,044.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214415.04,3648.8325,N,-12158.5155,W,1,03,00.5,044.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4074714.94, 591400.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214416.04,3648.8323,N,-12158.5162,W,1,03,00.5,044.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 410.00 : 31.00 : Estimated East Bias at time = 410.00 : 33.00 : Estimated Depth Bias at time = 410.00 : 0.59 : Estimated northing and easting = 4074745.94 : 591433.22 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214417.04,3648.8321,N,-12158.5170,W,1,03,00.5,044.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214418.03,3648.8318,N,-12158.5178,W,1,03,00.5,043.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214419.03,3648.8316,N,-12158.5185,W,1,03,00.5,044.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214420.03,3648.8312,N,-12158.5193,W,1,03,00.5,044.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214421.03,3648.8309,N,-12158.5201,W,1,03,00.5,044.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214422.03,3648.8306,N,-12158.5210,W,1,03,00.5,044.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214423.03,3648.8302,N,-12158.5218,W,1,03,00.5,043.6,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214424.03,3648.8298,N,-12158.5227,W,1,03,00.5,044.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214425.03,3648.8295,N,-12158.5235,W,1,03,00.5,044.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074709.12, 591388.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214426.03,3648.8292,N,-12158.5243,W,1,03,00.5,044.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : Estimated North Bias at time = 420.00 : 31.00 : Estimated East Bias at time = 420.00 : 34.00 : Estimated Depth Bias at time = 420.00 : 0.81 : Estimated northing and easting = 4074740.12 : 591422.32 : NMEA Update: $GPGGA,214427.03,3648.8289,N,-12158.5251,W,1,03,00.5,044.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214428.03,3648.8286,N,-12158.5260,W,1,03,00.5,045.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214429.03,3648.8283,N,-12158.5268,W,1,03,00.5,044.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214430.03,3648.8280,N,-12158.5277,W,1,03,00.5,044.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214431.03,3648.8278,N,-12158.5286,W,1,03,00.5,044.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214432.03,3648.8276,N,-12158.5295,W,1,03,00.5,044.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214433.03,3648.8273,N,-12158.5304,W,1,03,00.5,045.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214434.03,3648.8271,N,-12158.5313,W,1,03,00.5,045.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214435.03,3648.8269,N,-12158.5323,W,1,03,00.5,045.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4074704.18, 591375.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214436.03,3648.8266,N,-12158.5333,W,1,03,00.5,045.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 430.00 : 6.00 : Estimated East Bias at time = 430.00 : 18.00 : Estimated Depth Bias at time = 430.00 : 0.77 : Estimated northing and easting = 4074710.18 : 591393.20 : NMEA Update: $GPGGA,214437.03,3648.8264,N,-12158.5342,W,1,03,00.5,045.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214438.03,3648.8262,N,-12158.5352,W,1,03,00.5,045.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214439.03,3648.8260,N,-12158.5361,W,1,03,00.5,045.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214440.03,3648.8258,N,-12158.5370,W,1,03,00.5,046.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214441.03,3648.8256,N,-12158.5380,W,1,03,00.5,046.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214442.03,3648.8254,N,-12158.5389,W,1,03,00.5,046.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214443.03,3648.8253,N,-12158.5398,W,1,03,00.5,046.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214444.03,3648.8251,N,-12158.5408,W,1,03,00.5,046.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214445.03,3648.8250,N,-12158.5417,W,1,03,00.5,046.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 439.999858 : TerrainNav update at dvl time = 439.999858 : _navData-> (x,y) = (4074700.65, 591361.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214446.03,3648.8249,N,-12158.5427,W,1,03,00.5,047.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214447.03,3648.8247,N,-12158.5437,W,1,03,00.5,047.4,M,-99.9,M,,*4f : Estimated North Bias at time = 440.00 : 4.00 : Estimated East Bias at time = 440.00 : 17.00 : Estimated Depth Bias at time = 440.00 : 1.04 : Estimated northing and easting = 4074704.65 : 591378.20 : AshtechGps::processRecord() - $GPGGA,214448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214448.03,3648.8246,N,-12158.5446,W,1,03,00.5,046.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214449.03,3648.8245,N,-12158.5456,W,1,03,00.5,047.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214450.03,3648.8244,N,-12158.5466,W,1,03,00.5,047.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214451.03,3648.8243,N,-12158.5475,W,1,03,00.5,047.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214452.03,3648.8241,N,-12158.5485,W,1,03,00.5,047.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214453.03,3648.8240,N,-12158.5494,W,1,03,00.5,047.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214454.03,3648.8239,N,-12158.5504,W,1,03,00.5,048.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214455.03,3648.8238,N,-12158.5514,W,1,03,00.5,047.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074698.39, 591346.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214456.03,3648.8238,N,-12158.5523,W,1,03,00.5,048.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214457.03,3648.8237,N,-12158.5533,W,1,03,00.5,048.5,M,-99.9,M,,*42 : Estimated North Bias at time = 450.00 : 1.00 : Estimated East Bias at time = 450.00 : 14.00 : Estimated Depth Bias at time = 450.00 : 1.28 : Estimated northing and easting = 4074699.39 : 591360.93 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214458.03,3648.8236,N,-12158.5543,W,1,03,00.5,048.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214459.03,3648.8235,N,-12158.5552,W,1,03,00.5,048.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214500.03,3648.8234,N,-12158.5562,W,1,03,00.5,048.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214501.03,3648.8234,N,-12158.5572,W,1,03,00.5,048.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214502.03,3648.8233,N,-12158.5581,W,1,03,00.5,049.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214503.03,3648.8232,N,-12158.5590,W,1,03,00.5,049.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214504.03,3648.8231,N,-12158.5600,W,1,03,00.5,049.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214505.03,3648.8230,N,-12158.5609,W,1,03,00.5,049.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 459.998488 : TerrainNav update at dvl time = 459.998488 : _navData-> (x,y) = (4074696.68, 591332.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214506.03,3648.8229,N,-12158.5619,W,1,03,00.5,050.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214507.03,3648.8228,N,-12158.5628,W,1,03,00.5,050.2,M,-99.9,M,,*4f : Estimated North Bias at time = 460.00 : 9.00 : Estimated East Bias at time = 460.00 : 1.00 : Estimated Depth Bias at time = 460.00 : 0.84 : Estimated northing and easting = 4074705.68 : 591333.70 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214508.03,3648.8227,N,-12158.5638,W,1,03,00.5,050.3,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214509.03,3648.8226,N,-12158.5647,W,1,03,00.5,050.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214510.03,3648.8225,N,-12158.5657,W,1,03,00.5,050.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214511.03,3648.8224,N,-12158.5667,W,1,03,00.5,051.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214512.03,3648.8223,N,-12158.5676,W,1,03,00.5,051.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214513.03,3648.8222,N,-12158.5686,W,1,03,00.5,051.8,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214514.03,3648.8221,N,-12158.5695,W,1,03,00.5,051.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214515.03,3648.8220,N,-12158.5705,W,1,03,00.5,052.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4074694.71, 591318.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214516.03,3648.8219,N,-12158.5714,W,1,03,00.5,052.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214517.03,3648.8218,N,-12158.5723,W,1,03,00.5,052.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : Estimated North Bias at time = 470.00 : 9.00 : Estimated East Bias at time = 470.00 : 0.00 : Estimated Depth Bias at time = 470.00 : 1.22 : Estimated northing and easting = 4074703.71 : 591318.55 : AshtechGps::processRecord() - $GPGGA,214518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214518.03,3648.8217,N,-12158.5733,W,1,03,00.5,053.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214519.03,3648.8215,N,-12158.5742,W,1,03,00.5,052.7,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214520.03,3648.8214,N,-12158.5752,W,1,03,00.5,053.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214521.03,3648.8213,N,-12158.5761,W,1,03,00.5,054.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214522.03,3648.8212,N,-12158.5771,W,1,03,00.5,054.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214523.03,3648.8210,N,-12158.5780,W,1,03,00.5,053.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214524.03,3648.8209,N,-12158.5790,W,1,03,00.5,054.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214525.03,3648.8207,N,-12158.5799,W,1,03,00.5,055.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074692.18, 591304.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214526.03,3648.8206,N,-12158.5808,W,1,03,00.5,054.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214527.03,3648.8205,N,-12158.5818,W,1,03,00.5,055.0,M,-99.9,M,,*48 : Estimated North Bias at time = 480.00 : 8.00 : Estimated East Bias at time = 480.00 : -1.00 : Estimated Depth Bias at time = 480.00 : 1.33 : Estimated northing and easting = 4074700.18 : 591303.58 : AshtechGps::processRecord() - $GPGGA,214528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214528.03,3648.8203,N,-12158.5827,W,1,03,00.5,055.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214529.03,3648.8202,N,-12158.5837,W,1,03,00.5,055.9,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214530.03,3648.8200,N,-12158.5846,W,1,03,00.5,056.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214531.03,3648.8199,N,-12158.5856,W,1,03,00.5,057.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214532.03,3648.8198,N,-12158.5865,W,1,03,00.5,058.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214533.03,3648.8196,N,-12158.5874,W,1,03,00.5,057.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214534.03,3648.8195,N,-12158.5884,W,1,03,00.5,059.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214535.03,3648.8193,N,-12158.5893,W,1,03,00.5,058.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4074689.39, 591290.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214536.03,3648.8192,N,-12158.5902,W,1,03,00.5,060.1,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214537.03,3648.8190,N,-12158.5912,W,1,03,00.5,060.1,M,-99.9,M,,*4a : Estimated North Bias at time = 490.00 : 13.00 : Estimated East Bias at time = 490.00 : -10.00 : Estimated Depth Bias at time = 490.00 : 0.99 : Estimated northing and easting = 4074702.39 : 591280.64 : AshtechGps::processRecord() - $GPGGA,214538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214538.03,3648.8189,N,-12158.5921,W,1,03,00.5,059.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214539.03,3648.8187,N,-12158.5931,W,1,03,00.5,060.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214540.03,3648.8186,N,-12158.5941,W,1,03,00.5,060.5,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214541.03,3648.8184,N,-12158.5951,W,1,03,00.5,060.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214542.03,3648.8183,N,-12158.5960,W,1,03,00.5,061.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214543.03,3648.8181,N,-12158.5970,W,1,03,00.5,062.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214544.03,3648.8180,N,-12158.5979,W,1,03,00.5,062.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214545.03,3648.8178,N,-12158.5988,W,1,03,00.5,063.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4074686.41, 591276.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214546.03,3648.8176,N,-12158.5997,W,1,03,00.5,063.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214547.03,3648.8175,N,-12158.6007,W,1,03,00.5,063.6,M,-99.9,M,,*4c : Estimated North Bias at time = 500.00 : -23.00 : Estimated East Bias at time = 500.00 : 8.00 : Estimated Depth Bias at time = 500.00 : 1.22 : Estimated northing and easting = 4074663.41 : 591284.53 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.00 horzlMode=3 horz=4.52 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214548.03,3648.8174,N,-12158.6016,W,1,03,00.5,064.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074685.3, 591271.6), reached at t = 550.99 (wplog) : Vehicle Position is error is (-0.1, 0.1) : LayeredControl::execute() -- (t = 550.992254) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 550.99 (wplog) The current location (N,E) = 4074685.4 , 591271.5 (wplog) The next waypoint = 4074663.1 , 591162.4 (wplog) The bearing to the next w.p. is 258.5 Degrees. : LayeredControl::execute() -- (t = 550.992254) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,214549.03,3648.8172,N,-12158.6026,W,1,03,00.5,064.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214550.03,3648.8171,N,-12158.6035,W,1,03,00.5,065.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214551.03,3648.8169,N,-12158.6045,W,1,03,00.5,065.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214552.03,3648.8168,N,-12158.6054,W,1,03,00.5,066.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214553.03,3648.8166,N,-12158.6064,W,1,03,00.5,066.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214554.03,3648.8165,N,-12158.6073,W,1,03,00.5,066.5,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214555.03,3648.8163,N,-12158.6083,W,1,03,00.5,066.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074683.50, 591262.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214556.03,3648.8161,N,-12158.6093,W,1,03,00.5,066.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214557.03,3648.8160,N,-12158.6102,W,1,03,00.5,064.7,M,-99.9,M,,*4b : Estimated North Bias at time = 510.00 : -29.00 : Estimated East Bias at time = 510.00 : 9.00 : Estimated Depth Bias at time = 510.00 : 1.30 : Estimated northing and easting = 4074654.50 : 591271.40 : AshtechGps::processRecord() - $GPGGA,214558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214558.03,3648.8158,N,-12158.6111,W,1,03,00.5,064.5,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214559.04,3648.8157,N,-12158.6120,W,1,03,00.5,063.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214600.04,3648.8155,N,-12158.6129,W,1,03,00.5,062.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214601.04,3648.8154,N,-12158.6138,W,1,03,00.5,062.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214602.04,3648.8153,N,-12158.6146,W,1,03,00.5,061.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214603.04,3648.8152,N,-12158.6155,W,1,03,00.5,060.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214604.04,3648.8151,N,-12158.6163,W,1,03,00.5,059.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214605.04,3648.8150,N,-12158.6172,W,1,03,00.5,058.2,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 519.994378 : TerrainNav update at dvl time = 519.994378 : _navData-> (x,y) = (4074681.00, 591249.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214606.04,3648.8149,N,-12158.6180,W,1,03,00.5,059.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214607.04,3648.8148,N,-12158.6189,W,1,03,00.5,058.7,M,-99.9,M,,*4c : Estimated North Bias at time = 519.99 : -22.00 : Estimated East Bias at time = 519.99 : 9.00 : Estimated Depth Bias at time = 519.99 : 1.94 : Estimated northing and easting = 4074659.00 : 591258.29 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214608.04,3648.8146,N,-12158.6197,W,1,03,00.5,058.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214609.04,3648.8145,N,-12158.6206,W,1,03,00.5,058.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214610.04,3648.8143,N,-12158.6214,W,1,03,00.5,058.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214611.04,3648.8142,N,-12158.6222,W,1,03,00.5,058.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214612.04,3648.8140,N,-12158.6231,W,1,03,00.5,058.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214613.04,3648.8139,N,-12158.6239,W,1,03,00.5,058.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214614.04,3648.8138,N,-12158.6247,W,1,03,00.5,059.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214615.04,3648.8136,N,-12158.6255,W,1,03,00.5,059.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 529.993693 : TerrainNav update at dvl time = 529.993693 : _navData-> (x,y) = (4074678.33, 591237.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214616.04,3648.8135,N,-12158.6263,W,1,03,00.5,059.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 529.99 : -23.00 : Estimated East Bias at time = 529.99 : 10.00 : Estimated Depth Bias at time = 529.99 : 2.58 : Estimated northing and easting = 4074655.33 : 591247.00 : NMEA Update: $GPGGA,214617.04,3648.8134,N,-12158.6271,W,1,03,00.5,059.2,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214618.04,3648.8133,N,-12158.6279,W,1,03,00.5,059.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214619.04,3648.8131,N,-12158.6288,W,1,03,00.5,059.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214620.04,3648.8130,N,-12158.6296,W,1,03,00.5,058.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214621.04,3648.8128,N,-12158.6305,W,1,03,00.5,059.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214622.04,3648.8126,N,-12158.6313,W,1,03,00.5,060.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214623.04,3648.8124,N,-12158.6321,W,1,03,00.5,059.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214624.04,3648.8122,N,-12158.6330,W,1,03,00.5,059.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214625.04,3648.8121,N,-12158.6338,W,1,03,00.5,059.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 540.003007 : TerrainNav update at dvl time = 540.003007 : _navData-> (x,y) = (4074675.22, 591224.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214626.04,3648.8119,N,-12158.6346,W,1,03,00.5,058.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 540.00 : -23.00 : Estimated East Bias at time = 540.00 : 10.00 : Estimated Depth Bias at time = 540.00 : 2.63 : Estimated northing and easting = 4074652.22 : 591234.66 : NMEA Update: $GPGGA,214627.04,3648.8117,N,-12158.6355,W,1,03,00.5,060.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214628.04,3648.8116,N,-12158.6363,W,1,03,00.5,059.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214629.04,3648.8115,N,-12158.6371,W,1,03,00.5,059.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214630.04,3648.8114,N,-12158.6379,W,1,03,00.5,059.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214631.04,3648.8112,N,-12158.6388,W,1,03,00.5,060.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214632.04,3648.8111,N,-12158.6396,W,1,03,00.5,059.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214633.04,3648.8110,N,-12158.6404,W,1,03,00.5,060.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214634.04,3648.8109,N,-12158.6412,W,1,03,00.5,060.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214635.04,3648.8107,N,-12158.6421,W,1,03,00.5,060.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4074672.65, 591212.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214636.04,3648.8106,N,-12158.6429,W,1,03,00.5,060.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 550.00 : -27.00 : Estimated East Bias at time = 550.00 : 10.00 : Estimated Depth Bias at time = 550.00 : 2.54 : Estimated northing and easting = 4074645.65 : 591222.38 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214637.04,3648.8104,N,-12158.6438,W,1,03,00.5,059.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214638.04,3648.8103,N,-12158.6446,W,1,03,00.5,060.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214639.04,3648.8102,N,-12158.6455,W,1,03,00.5,061.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214640.04,3648.8100,N,-12158.6463,W,1,03,00.5,061.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214641.04,3648.8099,N,-12158.6472,W,1,03,00.5,061.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214642.04,3648.8098,N,-12158.6480,W,1,03,00.5,061.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214643.04,3648.8097,N,-12158.6489,W,1,03,00.5,061.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214644.03,3648.8096,N,-12158.6497,W,1,03,00.5,061.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214645.03,3648.8095,N,-12158.6506,W,1,03,00.5,059.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4074670.29, 591199.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214646.03,3648.8094,N,-12158.6515,W,1,03,00.5,060.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214647.03,3648.8093,N,-12158.6523,W,1,03,00.5,060.7,M,-99.9,M,,*47 : Estimated North Bias at time = 560.00 : -28.00 : Estimated East Bias at time = 560.00 : 11.00 : Estimated Depth Bias at time = 560.00 : 3.14 : Estimated northing and easting = 4074642.29 : 591210.71 : AshtechGps::processRecord() - $GPGGA,214648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214648.03,3648.8092,N,-12158.6532,W,1,03,00.5,060.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214649.03,3648.8091,N,-12158.6540,W,1,03,00.5,061.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214650.03,3648.8089,N,-12158.6549,W,1,03,00.5,060.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214651.03,3648.8088,N,-12158.6557,W,1,03,00.5,060.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214652.03,3648.8087,N,-12158.6566,W,1,03,00.5,060.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214653.03,3648.8086,N,-12158.6574,W,1,03,00.5,060.8,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214654.03,3648.8085,N,-12158.6583,W,1,03,00.5,060.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214655.03,3648.8084,N,-12158.6591,W,1,03,00.5,060.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074668.11, 591187.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214656.03,3648.8083,N,-12158.6600,W,1,03,00.5,060.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 570.00 : -28.00 : Estimated East Bias at time = 570.00 : 11.00 : Estimated Depth Bias at time = 570.00 : 3.41 : Estimated northing and easting = 4074640.11 : 591198.07 : NMEA Update: $GPGGA,214657.03,3648.8082,N,-12158.6608,W,1,03,00.5,060.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214658.03,3648.8081,N,-12158.6617,W,1,03,00.5,061.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214659.03,3648.8080,N,-12158.6626,W,1,03,00.5,060.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214700.03,3648.8078,N,-12158.6634,W,1,03,00.5,061.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214701.03,3648.8077,N,-12158.6643,W,1,03,00.5,061.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214702.03,3648.8076,N,-12158.6651,W,1,03,00.5,060.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214703.03,3648.8075,N,-12158.6660,W,1,03,00.5,060.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214704.03,3648.8074,N,-12158.6668,W,1,03,00.5,061.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214705.03,3648.8073,N,-12158.6677,W,1,03,00.5,061.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 580.000267 : TerrainNav update at dvl time = 580.000267 : _navData-> (x,y) = (4074665.95, 591174.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214706.03,3648.8072,N,-12158.6685,W,1,03,00.5,060.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214707.03,3648.8071,N,-12158.6694,W,1,03,00.5,061.3,M,-99.9,M,,*44 : Estimated North Bias at time = 580.00 : -26.00 : Estimated East Bias at time = 580.00 : 11.00 : Estimated Depth Bias at time = 580.00 : 3.96 : Estimated northing and easting = 4074639.95 : 591185.39 : AshtechGps::processRecord() - $GPGGA,214708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214708.03,3648.8070,N,-12158.6702,W,1,03,00.5,060.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214709.03,3648.8068,N,-12158.6711,W,1,03,00.5,061.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214710.03,3648.8067,N,-12158.6720,W,1,03,00.5,061.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214711.03,3648.8066,N,-12158.6729,W,1,03,00.5,061.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214712.03,3648.8065,N,-12158.6737,W,1,03,00.5,061.6,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214713.03,3648.8063,N,-12158.6746,W,1,03,00.5,061.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214714.03,3648.8062,N,-12158.6755,W,1,03,00.5,061.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074663.1, 591162.4), reached at t = 636.80 (wplog) : Vehicle Position is error is (-0.6, 0.1) : LayeredControl::execute() -- (t = 636.796376) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 636.80 (wplog) The current location (N,E) = 4074663.7 , 591162.3 (wplog) The next waypoint = 4074838.1 , 591162.4 (wplog) The bearing to the next w.p. is 0.0 Degrees. : LayeredControl::execute() -- (t = 636.796376) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214715.03,3648.8061,N,-12158.6764,W,1,03,00.5,061.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 589.999582 : TerrainNav update at dvl time = 589.999582 : _navData-> (x,y) = (4074663.54, 591161.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214716.03,3648.8059,N,-12158.6772,W,1,03,00.5,061.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214717.03,3648.8058,N,-12158.6781,W,1,03,00.5,061.3,M,-99.9,M,,*4b : Estimated North Bias at time = 590.00 : -26.00 : Estimated East Bias at time = 590.00 : 11.00 : Estimated Depth Bias at time = 590.00 : 4.20 : Estimated northing and easting = 4074637.54 : 591172.49 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214718.03,3648.8057,N,-12158.6790,W,1,03,00.5,061.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214719.03,3648.8056,N,-12158.6798,W,1,03,00.5,062.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214720.03,3648.8056,N,-12158.6807,W,1,03,00.5,063.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214721.03,3648.8056,N,-12158.6816,W,1,03,00.5,065.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214722.03,3648.8056,N,-12158.6826,W,1,03,00.5,067.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214723.03,3648.8057,N,-12158.6835,W,1,03,00.5,070.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214724.03,3648.8059,N,-12158.6844,W,1,03,00.5,071.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214725.03,3648.8061,N,-12158.6852,W,1,03,00.5,073.8,M,-99.9,M,,*49 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074663.77, 591148.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214726.03,3648.8064,N,-12158.6861,W,1,03,00.5,074.7,M,-99.9,M,,*47 : Estimated North Bias at time = 600.00 : -25.00 : Estimated East Bias at time = 600.00 : 11.00 : Estimated Depth Bias at time = 600.00 : 4.23 : Estimated northing and easting = 4074638.77 : 591159.32 : AshtechGps::processRecord() - $GPGGA,214727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214727.03,3648.8067,N,-12158.6868,W,1,03,00.5,077.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214728.03,3648.8071,N,-12158.6875,W,1,03,00.5,078.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214729.03,3648.8076,N,-12158.6882,W,1,03,00.5,079.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214730.03,3648.8080,N,-12158.6888,W,1,03,00.5,080.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214731.03,3648.8086,N,-12158.6893,W,1,03,00.5,079.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214732.03,3648.8091,N,-12158.6898,W,1,03,00.5,079.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214733.03,3648.8097,N,-12158.6901,W,1,03,00.5,078.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214734.03,3648.8103,N,-12158.6904,W,1,03,00.5,078.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214735.03,3648.8109,N,-12158.6906,W,1,03,00.5,076.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4074672.87, 591140.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214736.03,3648.8116,N,-12158.6908,W,1,03,00.5,074.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 610.00 : -24.00 : Estimated East Bias at time = 610.00 : 11.00 : Estimated Depth Bias at time = 610.00 : 4.06 : Estimated northing and easting = 4074648.87 : 591151.59 : NMEA Update: $GPGGA,214737.03,3648.8122,N,-12158.6908,W,1,03,00.5,072.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214738.03,3648.8129,N,-12158.6907,W,1,03,00.5,072.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214739.03,3648.8135,N,-12158.6906,W,1,03,00.5,071.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214740.03,3648.8141,N,-12158.6903,W,1,03,00.5,070.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214741.03,3648.8147,N,-12158.6900,W,1,03,00.5,070.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214742.03,3648.8152,N,-12158.6896,W,1,03,00.5,068.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214743.03,3648.8157,N,-12158.6891,W,1,03,00.5,067.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214744.03,3648.8162,N,-12158.6886,W,1,03,00.5,067.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214745.03,3648.8166,N,-12158.6880,W,1,03,00.5,066.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4074683.27, 591144.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214746.03,3648.8171,N,-12158.6874,W,1,03,00.5,066.7,M,-99.9,M,,*43 : Estimated North Bias at time = 620.00 : -24.00 : Estimated East Bias at time = 620.00 : 11.00 : Estimated Depth Bias at time = 620.00 : 4.02 : Estimated northing and easting = 4074659.27 : 591155.90 : AshtechGps::processRecord() - $GPGGA,214747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214747.03,3648.8175,N,-12158.6867,W,1,03,00.5,066.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214748.03,3648.8179,N,-12158.6860,W,1,03,00.5,067.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214749.03,3648.8184,N,-12158.6854,W,1,03,00.5,067.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214750.03,3648.8189,N,-12158.6847,W,1,03,00.5,067.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214751.03,3648.8194,N,-12158.6841,W,1,03,00.5,067.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214752.03,3648.8200,N,-12158.6834,W,1,03,00.5,066.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214753.03,3648.8206,N,-12158.6828,W,1,03,00.5,067.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214754.03,3648.8212,N,-12158.6823,W,1,03,00.5,069.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214755.03,3648.8218,N,-12158.6817,W,1,03,00.5,067.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074693.09, 591154.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214756.03,3648.8224,N,-12158.6812,W,1,03,00.5,070.3,M,-99.9,M,,*42 : Estimated North Bias at time = 630.00 : -23.00 : Estimated East Bias at time = 630.00 : 12.00 : Estimated Depth Bias at time = 630.00 : 5.06 : Estimated northing and easting = 4074670.09 : 591166.05 : AshtechGps::processRecord() - $GPGGA,214757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214757.03,3648.8231,N,-12158.6807,W,1,03,00.5,064.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214758.03,3648.8238,N,-12158.6803,W,1,03,00.5,066.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214759.03,3648.8245,N,-12158.6798,W,1,03,00.5,067.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214800.03,3648.8252,N,-12158.6795,W,1,03,00.5,068.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214801.03,3648.8260,N,-12158.6791,W,1,03,00.5,069.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214802.03,3648.8267,N,-12158.6787,W,1,03,00.5,072.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214803.03,3648.8275,N,-12158.6783,W,1,03,00.5,072.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214804.03,3648.8283,N,-12158.6780,W,1,03,00.5,071.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214805.03,3648.8291,N,-12158.6776,W,1,03,00.5,080.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4074706.67, 591159.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214806.03,3648.8298,N,-12158.6773,W,1,03,00.5,080.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 640.00 : -24.00 : Estimated East Bias at time = 640.00 : 12.00 : Estimated Depth Bias at time = 640.00 : 4.32 : Estimated northing and easting = 4074682.67 : 591171.84 : AshtechGps::processRecord() - $GPGGA,214807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214807.03,3648.8306,N,-12158.6770,W,1,03,00.5,080.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214808.03,3648.8314,N,-12158.6767,W,1,03,00.5,079.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214809.03,3648.8322,N,-12158.6765,W,1,03,00.5,079.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214810.03,3648.8330,N,-12158.6763,W,1,03,00.5,079.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214811.03,3648.8338,N,-12158.6760,W,1,03,00.5,079.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214812.03,3648.8345,N,-12158.6758,W,1,03,00.5,078.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214813.03,3648.8353,N,-12158.6757,W,1,03,00.5,078.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214814.03,3648.8361,N,-12158.6756,W,1,03,00.5,070.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214815.03,3648.8369,N,-12158.6754,W,1,03,00.5,068.5,M,-99.9,M,,*40 : TerrainNav update at nav time = 649.995472 : TerrainNav update at dvl time = 649.995472 : _navData-> (x,y) = (4074721.23, 591162.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214816.03,3648.8377,N,-12158.6753,W,1,03,00.5,069.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 650.00 : -23.00 : Estimated East Bias at time = 650.00 : 12.00 : Estimated Depth Bias at time = 650.00 : 5.04 : Estimated northing and easting = 4074698.23 : 591174.81 : NMEA Update: $GPGGA,214817.03,3648.8385,N,-12158.6753,W,1,03,00.5,069.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214818.03,3648.8393,N,-12158.6752,W,1,03,00.5,068.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214819.03,3648.8401,N,-12158.6752,W,1,03,00.5,070.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214820.03,3648.8409,N,-12158.6751,W,1,03,00.5,068.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214821.03,3648.8417,N,-12158.6750,W,1,03,00.5,069.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214822.03,3648.8425,N,-12158.6750,W,1,03,00.5,070.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214823.03,3648.8433,N,-12158.6749,W,1,03,00.5,068.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214824.03,3648.8441,N,-12158.6749,W,1,03,00.5,069.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214825.04,3648.8449,N,-12158.6749,W,1,03,00.5,067.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074735.97, 591163.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214826.04,3648.8457,N,-12158.6748,W,1,03,00.5,067.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 659.99 : -23.00 : Estimated East Bias at time = 659.99 : 12.00 : Estimated Depth Bias at time = 659.99 : 5.56 : Estimated northing and easting = 4074712.97 : 591175.49 : NMEA Update: $GPGGA,214827.04,3648.8465,N,-12158.6748,W,1,03,00.5,069.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214828.04,3648.8473,N,-12158.6748,W,1,03,00.5,067.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214829.04,3648.8481,N,-12158.6748,W,1,03,00.5,067.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214830.04,3648.8488,N,-12158.6749,W,1,03,00.5,068.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214831.04,3648.8496,N,-12158.6749,W,1,03,00.5,067.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214832.04,3648.8504,N,-12158.6749,W,1,03,00.5,066.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214833.04,3648.8513,N,-12158.6749,W,1,03,00.5,067.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214834.04,3648.8521,N,-12158.6750,W,1,03,00.5,067.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214835.04,3648.8529,N,-12158.6750,W,1,03,00.5,066.0,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4074750.79, 591163.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214836.04,3648.8537,N,-12158.6750,W,1,03,00.5,066.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 669.99 : -23.00 : Estimated East Bias at time = 669.99 : 12.00 : Estimated Depth Bias at time = 669.99 : 5.72 : Estimated northing and easting = 4074727.79 : 591175.11 : NMEA Update: $GPGGA,214837.04,3648.8545,N,-12158.6750,W,1,03,00.5,065.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214838.04,3648.8553,N,-12158.6750,W,1,03,00.5,064.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214839.04,3648.8561,N,-12158.6750,W,1,03,00.5,065.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214840.04,3648.8569,N,-12158.6751,W,1,03,00.5,064.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214841.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214841.04,3648.8577,N,-12158.6751,W,1,03,00.5,063.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214842.04,3648.8585,N,-12158.6751,W,1,03,00.5,063.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214843.04,3648.8593,N,-12158.6752,W,1,03,00.5,063.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214844.04,3648.8601,N,-12158.6752,W,1,03,00.5,063.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214845.04,3648.8609,N,-12158.6752,W,1,03,00.5,063.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4074765.65, 591162.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214846.04,3648.8617,N,-12158.6753,W,1,03,00.5,062.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214847.04,3648.8625,N,-12158.6753,W,1,03,00.5,062.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 679.99 : -22.00 : Estimated East Bias at time = 679.99 : 12.00 : Estimated Depth Bias at time = 679.99 : 4.90 : Estimated northing and easting = 4074743.65 : 591174.58 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214848.04,3648.8633,N,-12158.6753,W,1,03,00.5,062.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214849.04,3648.8642,N,-12158.6753,W,1,03,00.5,062.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214850.04,3648.8650,N,-12158.6754,W,1,03,00.5,062.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214851.04,3648.8658,N,-12158.6754,W,1,03,00.5,062.8,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214852.04,3648.8666,N,-12158.6754,W,1,03,00.5,062.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214853.04,3648.8674,N,-12158.6754,W,1,03,00.5,062.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214854.04,3648.8682,N,-12158.6755,W,1,03,00.5,062.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214855.04,3648.8690,N,-12158.6755,W,1,03,00.5,061.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074780.52, 591162.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214856.04,3648.8697,N,-12158.6755,W,1,03,00.5,062.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214857.04,3648.8705,N,-12158.6755,W,1,03,00.5,061.5,M,-99.9,M,,*47 : Estimated North Bias at time = 690.00 : -22.00 : Estimated East Bias at time = 690.00 : 12.00 : Estimated Depth Bias at time = 690.00 : 5.21 : Estimated northing and easting = 4074758.52 : 591174.04 : AshtechGps::processRecord() - $GPGGA,214858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214858.04,3648.8713,N,-12158.6755,W,1,03,00.5,061.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214859.04,3648.8721,N,-12158.6755,W,1,03,00.5,061.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214900.04,3648.8729,N,-12158.6755,W,1,03,00.5,061.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214901.04,3648.8737,N,-12158.6756,W,1,03,00.5,061.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214902.04,3648.8745,N,-12158.6756,W,1,03,00.5,060.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214903.04,3648.8753,N,-12158.6756,W,1,03,00.5,060.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214904.04,3648.8761,N,-12158.6756,W,1,03,00.5,061.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214905.04,3648.8769,N,-12158.6756,W,1,03,00.5,060.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4074795.21, 591161.80) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214906.04,3648.8777,N,-12158.6755,W,1,03,00.5,061.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214907.04,3648.8785,N,-12158.6755,W,1,03,00.5,060.2,M,-99.9,M,,*4d : Estimated North Bias at time = 700.00 : -21.00 : Estimated East Bias at time = 700.00 : 12.00 : Estimated Depth Bias at time = 700.00 : 5.37 : Estimated northing and easting = 4074774.21 : 591173.80 : AshtechGps::processRecord() - $GPGGA,214908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214908.04,3648.8794,N,-12158.6754,W,1,03,00.5,060.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214909.04,3648.8802,N,-12158.6754,W,1,03,00.5,065.4,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214910.03,3648.8811,N,-12158.6753,W,1,03,00.5,065.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214911.03,3648.8819,N,-12158.6752,W,1,03,00.5,064.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214912.03,3648.8827,N,-12158.6752,W,1,03,00.5,064.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214913.03,3648.8836,N,-12158.6751,W,1,03,00.5,064.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214914.03,3648.8844,N,-12158.6750,W,1,03,00.5,064.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214915.03,3648.8853,N,-12158.6750,W,1,03,00.5,064.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4074810.68, 591162.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214916.03,3648.8861,N,-12158.6749,W,1,03,00.5,064.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214917.03,3648.8869,N,-12158.6748,W,1,03,00.5,064.0,M,-99.9,M,,*4c : Estimated North Bias at time = 710.00 : -21.00 : Estimated East Bias at time = 710.00 : 12.00 : Estimated Depth Bias at time = 710.00 : 5.35 : Estimated northing and easting = 4074789.68 : 591174.57 : AshtechGps::processRecord() - $GPGGA,214918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214918.03,3648.8878,N,-12158.6748,W,1,03,00.5,063.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214919.03,3648.8886,N,-12158.6748,W,1,03,00.5,063.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214920.03,3648.8894,N,-12158.6747,W,1,03,00.5,063.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214921.03,3648.8902,N,-12158.6747,W,1,03,00.5,063.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214922.03,3648.8911,N,-12158.6747,W,1,03,00.5,063.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214923.03,3648.8919,N,-12158.6746,W,1,03,00.5,063.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214924.03,3648.8928,N,-12158.6746,W,1,03,00.5,063.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214925.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214925.03,3648.8936,N,-12158.6746,W,1,03,00.5,063.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4074826.12, 591162.88) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214926.03,3648.8945,N,-12158.6746,W,1,03,00.5,063.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214927.03,3648.8953,N,-12158.6746,W,1,03,00.5,062.9,M,-99.9,M,,*46 : Estimated North Bias at time = 720.00 : -21.00 : Estimated East Bias at time = 720.00 : 12.00 : Estimated Depth Bias at time = 720.00 : 5.26 : Estimated northing and easting = 4074805.12 : 591174.88 : AshtechGps::processRecord() - $GPGGA,214928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214928.03,3648.8961,N,-12158.6746,W,1,03,00.5,063.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214929.03,3648.8970,N,-12158.6745,W,1,03,00.5,062.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214930.03,3648.8978,N,-12158.6745,W,1,03,00.5,062.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214931.03,3648.8986,N,-12158.6745,W,1,03,00.5,062.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214932.03,3648.8995,N,-12158.6745,W,1,03,00.5,062.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214933.03,3648.9003,N,-12158.6745,W,1,03,00.5,062.6,M,-99.9,M,,*42 : Waypoint has set the state to finished. : Waypoint (4074838.1, 591162.4), reached at t = 775.20 (wplog) : Vehicle Position is error is (-0.1, -0.6) : LayeredControl::execute() -- (t = 775.196895) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 775.20 (wplog) The current location (N,E) = 4074838.2 , 591163.0 (wplog) The next waypoint = 4074868.1 , 591082.4 (wplog) The bearing to the next w.p. is 290.4 Degrees. : LayeredControl::execute() -- (t = 775.206895) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214934.03,3648.9011,N,-12158.6744,W,1,03,00.5,062.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214935.03,3648.9020,N,-12158.6745,W,1,03,00.5,063.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 729.999992 : TerrainNav update at dvl time = 729.999992 : _navData-> (x,y) = (4074841.55, 591162.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214936.03,3648.9028,N,-12158.6745,W,1,03,00.5,061.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214937.03,3648.9036,N,-12158.6747,W,1,03,00.5,060.3,M,-99.9,M,,*45 : Estimated North Bias at time = 730.00 : -19.00 : Estimated East Bias at time = 730.00 : 11.00 : Estimated Depth Bias at time = 730.00 : 5.62 : Estimated northing and easting = 4074822.55 : 591173.91 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214938.03,3648.9044,N,-12158.6749,W,1,03,00.5,060.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214939.03,3648.9051,N,-12158.6753,W,1,03,00.5,059.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214940.03,3648.9058,N,-12158.6757,W,1,03,00.5,059.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214941.03,3648.9063,N,-12158.6763,W,1,03,00.5,058.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214942.03,3648.9068,N,-12158.6768,W,1,03,00.5,057.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214943.03,3648.9071,N,-12158.6774,W,1,03,00.5,056.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,214944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214944.03,3648.9073,N,-12158.6780,W,1,03,00.5,056.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214945.03,3648.9074,N,-12158.6786,W,1,03,00.5,055.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 739.999306 : TerrainNav update at dvl time = 739.999306 : _navData-> (x,y) = (4074851.07, 591156.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214946.03,3648.9075,N,-12158.6792,W,1,03,00.5,053.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 740.00 : -20.00 : Estimated East Bias at time = 740.00 : 12.00 : Estimated Depth Bias at time = 740.00 : 5.89 : Estimated northing and easting = 4074831.07 : 591168.31 : NMEA Update: $GPGGA,214947.03,3648.9075,N,-12158.6798,W,1,03,00.5,053.4,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214948.03,3648.9075,N,-12158.6804,W,1,03,00.5,053.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214949.03,3648.9074,N,-12158.6810,W,1,03,00.5,052.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214950.03,3648.9073,N,-12158.6816,W,1,03,00.5,052.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,214951.03,3648.9071,N,-12158.6822,W,1,03,00.5,052.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214952.03,3648.9070,N,-12158.6828,W,1,03,00.5,052.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214953.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214953.03,3648.9068,N,-12158.6834,W,1,03,00.5,052.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214954.03,3648.9066,N,-12158.6841,W,1,03,00.5,052.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214955.03,3648.9064,N,-12158.6848,W,1,03,00.5,052.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 749.998621 : TerrainNav update at dvl time = 749.998621 : _navData-> (x,y) = (4074848.89, 591147.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,214956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214956.03,3648.9062,N,-12158.6854,W,1,03,00.5,051.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 750.00 : -17.00 : Estimated East Bias at time = 750.00 : 9.00 : Estimated Depth Bias at time = 750.00 : 4.96 : Estimated northing and easting = 4074831.89 : 591156.16 : NMEA Update: $GPGGA,214957.03,3648.9061,N,-12158.6861,W,1,03,00.5,051.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214958.03,3648.9059,N,-12158.6868,W,1,03,00.5,051.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,214959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214959.03,3648.9058,N,-12158.6876,W,1,03,00.5,051.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215000.03,3648.9057,N,-12158.6883,W,1,03,00.5,050.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215001.03,3648.9057,N,-12158.6891,W,1,03,00.5,051.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215002.03,3648.9056,N,-12158.6899,W,1,03,00.5,051.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215003.03,3648.9056,N,-12158.6906,W,1,03,00.5,051.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215004.03,3648.9056,N,-12158.6914,W,1,03,00.5,050.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215005.03,3648.9056,N,-12158.6922,W,1,03,00.5,050.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 759.997936 : TerrainNav update at dvl time = 759.997936 : _navData-> (x,y) = (4074847.42, 591135.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215006.03,3648.9056,N,-12158.6931,W,1,03,00.5,050.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 760.00 : -16.00 : Estimated East Bias at time = 760.00 : 9.00 : Estimated Depth Bias at time = 760.00 : 4.89 : Estimated northing and easting = 4074831.42 : 591144.95 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215007.03,3648.9057,N,-12158.6939,W,1,03,00.5,050.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215008.03,3648.9057,N,-12158.6947,W,1,03,00.5,049.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215009.03,3648.9058,N,-12158.6955,W,1,03,00.5,049.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215010.03,3648.9059,N,-12158.6963,W,1,03,00.5,049.8,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215011.03,3648.9060,N,-12158.6971,W,1,03,00.5,049.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215012.03,3648.9061,N,-12158.6979,W,1,03,00.5,050.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215013.03,3648.9063,N,-12158.6988,W,1,03,00.5,049.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215014.03,3648.9064,N,-12158.6996,W,1,03,00.5,049.9,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215015.03,3648.9066,N,-12158.7004,W,1,03,00.5,049.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4074849.26, 591123.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215016.03,3648.9068,N,-12158.7012,W,1,03,00.5,050.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215017.03,3648.9070,N,-12158.7020,W,1,03,00.5,050.4,M,-99.9,M,,*4e : Estimated North Bias at time = 770.00 : -14.00 : Estimated East Bias at time = 770.00 : 9.00 : Estimated Depth Bias at time = 770.00 : 4.48 : Estimated northing and easting = 4074835.26 : 591132.82 : AshtechGps::processRecord() - $GPGGA,215018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215018.03,3648.9072,N,-12158.7028,W,1,03,00.5,050.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215019.03,3648.9074,N,-12158.7037,W,1,03,00.5,051.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215020.03,3648.9077,N,-12158.7045,W,1,03,00.5,052.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215021.03,3648.9079,N,-12158.7054,W,1,03,00.5,052.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215022.03,3648.9082,N,-12158.7062,W,1,03,00.5,052.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215023.03,3648.9084,N,-12158.7071,W,1,03,00.5,053.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215024.03,3648.9087,N,-12158.7080,W,1,03,00.5,054.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215025.03,3648.9090,N,-12158.7088,W,1,03,00.5,054.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074853.62, 591111.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215026.03,3648.9093,N,-12158.7097,W,1,03,00.5,054.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 780.00 : -12.00 : Estimated East Bias at time = 780.00 : 8.00 : Estimated Depth Bias at time = 780.00 : 3.54 : Estimated northing and easting = 4074841.62 : 591119.15 : NMEA Update: $GPGGA,215027.03,3648.9096,N,-12158.7106,W,1,03,00.5,055.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215028.03,3648.9099,N,-12158.7115,W,1,03,00.5,055.3,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215029.03,3648.9103,N,-12158.7124,W,1,03,00.5,056.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215030.03,3648.9106,N,-12158.7133,W,1,03,00.5,056.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215031.03,3648.9109,N,-12158.7142,W,1,03,00.5,056.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215032.03,3648.9113,N,-12158.7151,W,1,03,00.5,057.0,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215033.03,3648.9117,N,-12158.7160,W,1,03,00.5,057.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215034.03,3648.9120,N,-12158.7169,W,1,03,00.5,057.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215035.03,3648.9124,N,-12158.7178,W,1,03,00.5,057.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 789.995882 : TerrainNav update at dvl time = 789.995882 : _navData-> (x,y) = (4074859.82, 591097.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215036.03,3648.9128,N,-12158.7187,W,1,03,00.5,058.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215037.03,3648.9131,N,-12158.7196,W,1,03,00.5,058.7,M,-99.9,M,,*4f : Estimated North Bias at time = 790.00 : -11.00 : Estimated East Bias at time = 790.00 : 8.00 : Estimated Depth Bias at time = 790.00 : 3.35 : Estimated northing and easting = 4074848.82 : 591105.80 : AshtechGps::processRecord() - $GPGGA,215038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215038.03,3648.9135,N,-12158.7205,W,1,03,00.5,059.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215039.03,3648.9139,N,-12158.7214,W,1,03,00.5,058.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215040.03,3648.9142,N,-12158.7223,W,1,03,00.5,059.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215041.03,3648.9146,N,-12158.7233,W,1,03,00.5,059.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215042.03,3648.9150,N,-12158.7242,W,1,03,00.5,059.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215043.03,3648.9153,N,-12158.7251,W,1,03,00.5,060.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215044.03,3648.9157,N,-12158.7260,W,1,03,00.5,059.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215045.03,3648.9161,N,-12158.7269,W,1,03,00.5,060.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 799.995197 : TerrainNav update at dvl time = 799.995197 : _navData-> (x,y) = (4074866.46, 591084.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215046.03,3648.9164,N,-12158.7278,W,1,03,00.5,060.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=5.07 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074868.1, 591082.4), reached at t = 848.99 (wplog) : Vehicle Position is error is (0.6, 0.5) : LayeredControl::execute() -- (t = 848.991840) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 848.99 (wplog) The current location (N,E) = 4074867.5 , 591081.9 (wplog) The next waypoint = 4074673.1 , 591082.4 (wplog) The bearing to the next w.p. is 179.9 Degrees. : LayeredControl::execute() -- (t = 849.001839) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,215047.03,3648.9168,N,-12158.7288,W,1,03,00.5,060.6,M,-99.9,M,,*42 : Estimated North Bias at time = 800.00 : -11.00 : Estimated East Bias at time = 800.00 : 6.00 : Estimated Depth Bias at time = 800.00 : 2.39 : Estimated northing and easting = 4074855.46 : 591090.12 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215048.03,3648.9172,N,-12158.7297,W,1,03,00.5,060.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215049.03,3648.9175,N,-12158.7306,W,1,03,00.5,061.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215050.03,3648.9179,N,-12158.7315,W,1,03,00.5,061.8,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215051.04,3648.9181,N,-12158.7325,W,1,03,00.5,061.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215052.04,3648.9182,N,-12158.7334,W,1,03,00.5,061.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215053.04,3648.9183,N,-12158.7344,W,1,03,00.5,061.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215054.04,3648.9182,N,-12158.7352,W,1,03,00.5,061.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215055.04,3648.9180,N,-12158.7361,W,1,03,00.5,060.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4074869.43, 591070.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215056.04,3648.9177,N,-12158.7368,W,1,03,00.5,062.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215057.04,3648.9174,N,-12158.7374,W,1,03,00.5,061.0,M,-99.9,M,,*4c : Estimated North Bias at time = 809.99 : -10.00 : Estimated East Bias at time = 809.99 : 7.00 : Estimated Depth Bias at time = 809.99 : 2.40 : Estimated northing and easting = 4074859.43 : 591077.60 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215058.04,3648.9170,N,-12158.7379,W,1,03,00.5,062.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215059.04,3648.9165,N,-12158.7383,W,1,03,00.5,061.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215100.04,3648.9161,N,-12158.7385,W,1,03,00.5,061.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215101.04,3648.9156,N,-12158.7387,W,1,03,00.5,062.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215102.04,3648.9151,N,-12158.7388,W,1,03,00.5,063.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215103.04,3648.9147,N,-12158.7388,W,1,03,00.5,063.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215104.04,3648.9142,N,-12158.7387,W,1,03,00.5,064.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215105.04,3648.9138,N,-12158.7385,W,1,03,00.5,065.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4074861.41, 591067.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215106.04,3648.9133,N,-12158.7383,W,1,03,00.5,065.0,M,-99.9,M,,*46 : Estimated North Bias at time = 819.99 : -10.00 : Estimated East Bias at time = 819.99 : 8.00 : Estimated Depth Bias at time = 819.99 : 2.76 : Estimated northing and easting = 4074851.41 : 591075.61 : AshtechGps::processRecord() - $GPGGA,215107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215107.04,3648.9129,N,-12158.7379,W,1,03,00.5,065.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215108.04,3648.9126,N,-12158.7375,W,1,03,00.5,064.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215109.04,3648.9122,N,-12158.7371,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,215110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215110.04,3648.9118,N,-12158.7366,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,215111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215111.04,3648.9115,N,-12158.7361,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215112.04,3648.9111,N,-12158.7356,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,215113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215113.04,3648.9107,N,-12158.7351,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,215114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215114.04,3648.9102,N,-12158.7346,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215115.04,3648.9098,N,-12158.7341,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 830.003141 : TerrainNav update at dvl time = 830.003141 : _navData-> (x,y) = (4074854.09, 591074.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215116.04,3648.9093,N,-12158.7336,W,1,03,00.5,059.3,M,-99.9,M,,*4e : Estimated North Bias at time = 830.00 : -12.00 : Estimated East Bias at time = 830.00 : 8.00 : Estimated Depth Bias at time = 830.00 : 2.72 : Estimated northing and easting = 4074842.09 : 591082.45 : AshtechGps::processRecord() - $GPGGA,215117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215117.04,3648.9088,N,-12158.7331,W,1,03,00.5,058.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215118.04,3648.9082,N,-12158.7327,W,1,03,00.5,056.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215119.04,3648.9077,N,-12158.7322,W,1,03,00.5,055.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215120.04,3648.9071,N,-12158.7317,W,1,03,00.5,054.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215121.04,3648.9065,N,-12158.7313,W,1,03,00.5,053.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215122.04,3648.9059,N,-12158.7308,W,1,03,00.5,053.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215123.04,3648.9052,N,-12158.7304,W,1,03,00.5,052.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215124.04,3648.9046,N,-12158.7300,W,1,03,00.5,052.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215125.04,3648.9039,N,-12158.7296,W,1,03,00.5,052.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074843.09, 591081.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215126.04,3648.9032,N,-12158.7292,W,1,03,00.5,052.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 840.00 : -11.00 : Estimated East Bias at time = 840.00 : 8.00 : Estimated Depth Bias at time = 840.00 : 2.78 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : Estimated northing and easting = 4074832.09 : 591089.17 : NMEA Update: $GPGGA,215127.04,3648.9024,N,-12158.7288,W,1,03,00.5,052.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215128.04,3648.9017,N,-12158.7284,W,1,03,00.5,053.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215129.04,3648.9010,N,-12158.7280,W,1,03,00.5,053.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215130.04,3648.9002,N,-12158.7277,W,1,03,00.5,053.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215131.04,3648.8994,N,-12158.7274,W,1,03,00.5,053.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215132.04,3648.8987,N,-12158.7271,W,1,03,00.5,053.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215133.04,3648.8979,N,-12158.7269,W,1,03,00.5,053.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215134.04,3648.8971,N,-12158.7267,W,1,03,00.5,054.0,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215135.04,3648.8963,N,-12158.7265,W,1,03,00.5,053.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4074829.09, 591085.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215136.03,3648.8955,N,-12158.7263,W,1,03,00.5,054.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 850.00 : -11.00 : Estimated East Bias at time = 850.00 : 8.00 : Estimated Depth Bias at time = 850.00 : 3.17 : Estimated northing and easting = 4074818.09 : 591093.85 : NMEA Update: $GPGGA,215137.03,3648.8947,N,-12158.7262,W,1,03,00.5,053.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215138.03,3648.8939,N,-12158.7260,W,1,03,00.5,053.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215139.03,3648.8931,N,-12158.7259,W,1,03,00.5,054.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215140.03,3648.8923,N,-12158.7259,W,1,03,00.5,053.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215141.03,3648.8915,N,-12158.7258,W,1,03,00.5,054.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215142.03,3648.8907,N,-12158.7258,W,1,03,00.5,054.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215143.03,3648.8898,N,-12158.7258,W,1,03,00.5,054.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215144.03,3648.8890,N,-12158.7259,W,1,03,00.5,054.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215145.03,3648.8882,N,-12158.7259,W,1,03,00.5,054.9,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4074814.08, 591086.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215146.03,3648.8874,N,-12158.7260,W,1,03,00.5,055.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 860.00 : -12.00 : Estimated East Bias at time = 860.00 : 8.00 : Estimated Depth Bias at time = 860.00 : 3.36 : Estimated northing and easting = 4074802.08 : 591094.72 : NMEA Update: $GPGGA,215147.03,3648.8866,N,-12158.7260,W,1,03,00.5,055.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215148.03,3648.8858,N,-12158.7261,W,1,03,00.5,055.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215149.03,3648.8849,N,-12158.7262,W,1,03,00.5,055.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215150.03,3648.8841,N,-12158.7263,W,1,03,00.5,056.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215151.03,3648.8833,N,-12158.7264,W,1,03,00.5,056.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215152.03,3648.8825,N,-12158.7265,W,1,03,00.5,056.6,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215153.03,3648.8817,N,-12158.7266,W,1,03,00.5,056.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215154.03,3648.8809,N,-12158.7267,W,1,03,00.5,056.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215155.03,3648.8800,N,-12158.7268,W,1,03,00.5,057.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4074798.96, 591085.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215156.03,3648.8792,N,-12158.7270,W,1,03,00.5,058.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215157.03,3648.8784,N,-12158.7271,W,1,03,00.5,053.6,M,-99.9,M,,*41 : Estimated North Bias at time = 870.00 : -12.00 : Estimated East Bias at time = 870.00 : 8.00 : Estimated Depth Bias at time = 870.00 : 3.43 : Estimated northing and easting = 4074786.96 : 591093.44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215158.03,3648.8776,N,-12158.7273,W,1,03,00.5,054.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215159.03,3648.8768,N,-12158.7274,W,1,03,00.5,053.4,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215200.03,3648.8760,N,-12158.7276,W,1,03,00.5,054.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215201.03,3648.8752,N,-12158.7277,W,1,03,00.5,060.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215202.03,3648.8743,N,-12158.7279,W,1,03,00.5,059.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215203.03,3648.8735,N,-12158.7280,W,1,03,00.5,060.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215204.03,3648.8727,N,-12158.7281,W,1,03,00.5,061.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215205.03,3648.8719,N,-12158.7282,W,1,03,00.5,061.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4074783.89, 591083.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215206.03,3648.8711,N,-12158.7283,W,1,03,00.5,056.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215207.03,3648.8703,N,-12158.7284,W,1,03,00.5,055.8,M,-99.9,M,,*4a : Estimated North Bias at time = 880.00 : -12.00 : Estimated East Bias at time = 880.00 : 8.00 : Estimated Depth Bias at time = 880.00 : 3.89 : Estimated northing and easting = 4074771.89 : 591091.59 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215208.03,3648.8695,N,-12158.7285,W,1,03,00.5,056.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215209.03,3648.8687,N,-12158.7286,W,1,03,00.5,056.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215210.03,3648.8679,N,-12158.7287,W,1,03,00.5,057.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215211.03,3648.8671,N,-12158.7288,W,1,03,00.5,057.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215212.03,3648.8664,N,-12158.7290,W,1,03,00.5,057.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215213.03,3648.8657,N,-12158.7290,W,1,03,00.5,057.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215214.03,3648.8649,N,-12158.7291,W,1,03,00.5,058.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215215.03,3648.8641,N,-12158.7291,W,1,03,00.5,058.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4074769.41, 591082.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215216.03,3648.8633,N,-12158.7292,W,1,03,00.5,058.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 890.00 : -12.00 : Estimated East Bias at time = 890.00 : 8.00 : Estimated Depth Bias at time = 890.00 : 4.20 : Estimated northing and easting = 4074757.41 : 591090.37 : NMEA Update: $GPGGA,215217.03,3648.8624,N,-12158.7293,W,1,03,00.5,058.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215218.03,3648.8617,N,-12158.7293,W,1,03,00.5,058.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215219.03,3648.8609,N,-12158.7294,W,1,03,00.5,058.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215220.03,3648.8601,N,-12158.7294,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,215221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215221.03,3648.8593,N,-12158.7295,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215222.03,3648.8585,N,-12158.7295,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,215223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215223.03,3648.8576,N,-12158.7295,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,215224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215224.03,3648.8569,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215225.03,3648.8561,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4074754.66, 591081.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215226.03,3648.8553,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,215227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 900.00 : -14.00 : Estimated East Bias at time = 900.00 : 8.00 : Estimated Depth Bias at time = 900.00 : 4.16 : Estimated northing and easting = 4074740.66 : 591089.80 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215227.03,3648.8544,N,-12158.7297,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,215228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215228.03,3648.8536,N,-12158.7297,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215229.03,3648.8528,N,-12158.7297,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,215230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215230.03,3648.8520,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,215231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215231.03,3648.8512,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215232.03,3648.8504,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215233.03,3648.8496,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,215234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215234.03,3648.8488,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,215235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215235.03,3648.8480,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4074739.63, 591082.13) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215236.03,3648.8471,N,-12158.7295,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 910.00 : -14.00 : Estimated East Bias at time = 910.00 : 8.00 : Estimated Depth Bias at time = 910.00 : 4.16 : Estimated northing and easting = 4074725.63 : 591090.13 : AshtechGps::processRecord() - $GPGGA,215237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215237.03,3648.8463,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,215238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215238.03,3648.8455,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215239.03,3648.8447,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215240.03,3648.8439,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,215241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215241.03,3648.8431,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,215242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215242.03,3648.8422,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215243.03,3648.8414,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,215244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215244.03,3648.8406,N,-12158.7296,W,1,03,00.5,071.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215245.03,3648.8397,N,-12158.7295,W,1,03,00.5,070.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4074724.45, 591082.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215246.03,3648.8390,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated North Bias at time = 920.00 : -13.00 : Estimated East Bias at time = 920.00 : 8.00 : Estimated Depth Bias at time = 920.00 : 4.32 : Estimated northing and easting = 4074711.45 : 591090.28 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215247.03,3648.8382,N,-12158.7296,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,215248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215248.03,3648.8373,N,-12158.7295,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,215249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215249.03,3648.8365,N,-12158.7295,W,1,03,00.5,071.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215250.03,3648.8357,N,-12158.7295,W,1,03,00.5,072.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215251.03,3648.8349,N,-12158.7295,W,1,03,00.5,072.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215252.03,3648.8340,N,-12158.7295,W,1,03,00.5,073.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215253.03,3648.8332,N,-12158.7295,W,1,03,00.5,072.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215254.03,3648.8324,N,-12158.7295,W,1,03,00.5,073.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215255.03,3648.8315,N,-12158.7296,W,1,03,00.5,074.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4074709.20, 591082.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215256.03,3648.8307,N,-12158.7296,W,1,03,00.5,073.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 930.00 : -13.00 : Estimated East Bias at time = 930.00 : 8.00 : Estimated Depth Bias at time = 930.00 : 4.56 : Estimated northing and easting = 4074696.20 : 591090.42 : NMEA Update: $GPGGA,215257.03,3648.8298,N,-12158.7296,W,1,03,00.5,074.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215258.03,3648.8290,N,-12158.7296,W,1,03,00.5,074.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215259.03,3648.8282,N,-12158.7296,W,1,03,00.5,074.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215300.03,3648.8274,N,-12158.7296,W,1,03,00.5,075.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215301.03,3648.8265,N,-12158.7296,W,1,03,00.5,075.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215302.03,3648.8257,N,-12158.7296,W,1,03,00.5,075.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215303.03,3648.8249,N,-12158.7296,W,1,03,00.5,075.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215304.03,3648.8241,N,-12158.7296,W,1,03,00.5,076.2,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215305.03,3648.8232,N,-12158.7296,W,1,03,00.5,075.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4074693.92, 591082.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215306.03,3648.8224,N,-12158.7296,W,1,03,00.5,075.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 940.00 : -13.00 : Estimated East Bias at time = 940.00 : 6.00 : Estimated Depth Bias at time = 940.00 : 4.31 : Estimated northing and easting = 4074680.92 : 591088.60 : NMEA Update: $GPGGA,215307.03,3648.8216,N,-12158.7296,W,1,03,00.5,075.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215308.03,3648.8208,N,-12158.7296,W,1,03,00.5,076.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215309.03,3648.8199,N,-12158.7296,W,1,03,00.5,075.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215310.03,3648.8191,N,-12158.7296,W,1,03,00.5,076.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215311.03,3648.8183,N,-12158.7297,W,1,03,00.5,076.4,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215312.03,3648.8174,N,-12158.7297,W,1,03,00.5,077.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215313.03,3648.8166,N,-12158.7297,W,1,03,00.5,076.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215314.03,3648.8158,N,-12158.7297,W,1,03,00.5,076.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215315.03,3648.8149,N,-12158.7297,W,1,03,00.5,078.0,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4074678.53, 591082.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215316.03,3648.8141,N,-12158.7297,W,1,03,00.5,077.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 949.99 : -13.00 : Estimated East Bias at time = 949.99 : 6.00 : Estimated Depth Bias at time = 949.99 : 3.76 : Estimated northing and easting = 4074665.53 : 591088.53 : NMEA Update: $GPGGA,215317.04,3648.8133,N,-12158.7297,W,1,03,00.5,077.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215318.04,3648.8125,N,-12158.7297,W,1,03,00.5,077.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Waypoint has set the state to finished. : Waypoint (4074673.1, 591082.4), reached at t = 1000.99 (wplog) : Vehicle Position is error is (0.1, -0.2) : LayeredControl::execute() -- (t = 1000.991427) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1000.99 (wplog) The current location (N,E) = 4074673.1 , 591082.6 (wplog) The next waypoint = 4074563.1 , 591162.4 (wplog) The bearing to the next w.p. is 144.0 Degrees. : LayeredControl::execute() -- (t = 1000.991427) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,215319.04,3648.8116,N,-12158.7297,W,1,03,00.5,078.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215320.04,3648.8108,N,-12158.7297,W,1,03,00.5,078.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215321.04,3648.8100,N,-12158.7297,W,1,03,00.5,077.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215322.04,3648.8092,N,-12158.7297,W,1,03,00.5,077.9,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215323.04,3648.8084,N,-12158.7295,W,1,03,00.5,079.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215324.04,3648.8076,N,-12158.7293,W,1,03,00.5,082.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215325.04,3648.8069,N,-12158.7289,W,1,03,00.5,080.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4074663.73, 591084.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215326.04,3648.8062,N,-12158.7285,W,1,03,00.5,081.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 959.99 : -13.00 : Estimated East Bias at time = 959.99 : 4.00 : Estimated Depth Bias at time = 959.99 : 3.22 : Estimated northing and easting = 4074650.73 : 591088.10 : NMEA Update: $GPGGA,215327.04,3648.8056,N,-12158.7280,W,1,03,00.5,079.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215328.04,3648.8050,N,-12158.7274,W,1,03,00.5,078.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215329.04,3648.8044,N,-12158.7268,W,1,03,00.5,078.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215330.04,3648.8039,N,-12158.7261,W,1,03,00.5,076.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215331.04,3648.8034,N,-12158.7254,W,1,03,00.5,076.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215332.04,3648.8030,N,-12158.7247,W,1,03,00.5,076.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215333.04,3648.8025,N,-12158.7240,W,1,03,00.5,075.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215334.04,3648.8020,N,-12158.7233,W,1,03,00.5,075.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215335.04,3648.8016,N,-12158.7225,W,1,03,00.5,074.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4074654.26, 591093.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215336.04,3648.8011,N,-12158.7218,W,1,03,00.5,075.4,M,-99.9,M,,*41 : Estimated North Bias at time = 969.99 : -12.00 : Estimated East Bias at time = 969.99 : 4.00 : Estimated Depth Bias at time = 969.99 : 3.01 : Estimated northing and easting = 4074642.26 : 591097.91 : AshtechGps::processRecord() - $GPGGA,215337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215337.04,3648.8007,N,-12158.7210,W,1,03,00.5,074.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215338.04,3648.8002,N,-12158.7203,W,1,03,00.5,074.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215339.04,3648.7997,N,-12158.7196,W,1,03,00.5,073.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215340.04,3648.7991,N,-12158.7188,W,1,03,00.5,073.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215341.04,3648.7986,N,-12158.7181,W,1,03,00.5,073.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215342.04,3648.7981,N,-12158.7174,W,1,03,00.5,074.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215343.04,3648.7975,N,-12158.7167,W,1,03,00.5,075.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215344.04,3648.7969,N,-12158.7159,W,1,03,00.5,075.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215345.04,3648.7963,N,-12158.7152,W,1,03,00.5,076.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4074644.56, 591104.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215346.04,3648.7957,N,-12158.7145,W,1,03,00.5,077.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 980.00 : -12.00 : Estimated East Bias at time = 980.00 : 4.00 : Estimated Depth Bias at time = 980.00 : 2.95 : Estimated northing and easting = 4074632.56 : 591108.82 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215347.04,3648.7951,N,-12158.7138,W,1,03,00.5,079.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215348.04,3648.7945,N,-12158.7131,W,1,03,00.5,080.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215349.04,3648.7938,N,-12158.7125,W,1,03,00.5,081.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215350.04,3648.7932,N,-12158.7118,W,1,03,00.5,081.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215351.04,3648.7926,N,-12158.7111,W,1,03,00.5,082.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215352.04,3648.7919,N,-12158.7105,W,1,03,00.5,082.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215353.04,3648.7913,N,-12158.7098,W,1,03,00.5,082.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215354.04,3648.7906,N,-12158.7092,W,1,03,00.5,083.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215355.04,3648.7899,N,-12158.7086,W,1,03,00.5,083.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4074632.79, 591114.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215356.04,3648.7893,N,-12158.7080,W,1,03,00.5,084.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : Estimated North Bias at time = 990.00 : -12.00 : Estimated East Bias at time = 990.00 : 4.00 : Estimated Depth Bias at time = 990.00 : 2.81 : Estimated northing and easting = 4074620.79 : 591118.79 : AshtechGps::processRecord() - $GPGGA,215357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215357.04,3648.7886,N,-12158.7074,W,1,03,00.5,083.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215358.04,3648.7879,N,-12158.7068,W,1,03,00.5,082.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215359.04,3648.7872,N,-12158.7062,W,1,03,00.5,082.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215400.04,3648.7865,N,-12158.7056,W,1,03,00.5,082.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215401.04,3648.7858,N,-12158.7050,W,1,03,00.5,082.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215402.03,3648.7851,N,-12158.7045,W,1,03,00.5,082.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215403.03,3648.7844,N,-12158.7039,W,1,03,00.5,082.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215404.03,3648.7837,N,-12158.7034,W,1,03,00.5,083.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215405.03,3648.7830,N,-12158.7028,W,1,03,00.5,081.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4074619.99, 591123.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215406.03,3648.7823,N,-12158.7023,W,1,03,00.5,081.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : Estimated North Bias at time = 1000.00 : -13.00 : Estimated East Bias at time = 1000.00 : 5.00 : Estimated Depth Bias at time = 1000.00 : 3.14 : Estimated northing and easting = 4074606.99 : 591128.47 : AshtechGps::processRecord() - $GPGGA,215407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215407.03,3648.7816,N,-12158.7017,W,1,03,00.5,082.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215408.03,3648.7809,N,-12158.7012,W,1,03,00.5,081.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215409.03,3648.7802,N,-12158.7006,W,1,03,00.5,081.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215410.03,3648.7794,N,-12158.7001,W,1,03,00.5,081.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215411.03,3648.7787,N,-12158.6995,W,1,03,00.5,081.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215412.03,3648.7780,N,-12158.6990,W,1,03,00.5,080.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215413.03,3648.7773,N,-12158.6984,W,1,03,00.5,082.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215414.03,3648.7766,N,-12158.6979,W,1,03,00.5,081.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215415.03,3648.7759,N,-12158.6973,W,1,03,00.5,080.5,M,-99.9,M,,*48 : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4074606.91, 591131.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215416.03,3648.7751,N,-12158.6968,W,1,03,00.5,081.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : Estimated North Bias at time = 1010.00 : -14.00 : Estimated East Bias at time = 1010.00 : 6.00 : Estimated Depth Bias at time = 1010.00 : 2.02 : Estimated northing and easting = 4074592.91 : 591137.80 : AshtechGps::processRecord() - $GPGGA,215417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215417.03,3648.7744,N,-12158.6962,W,1,03,00.5,080.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215418.03,3648.7737,N,-12158.6957,W,1,03,00.5,080.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215419.03,3648.7730,N,-12158.6951,W,1,03,00.5,080.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215420.03,3648.7723,N,-12158.6946,W,1,03,00.5,081.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215421.03,3648.7716,N,-12158.6940,W,1,03,00.5,079.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215422.03,3648.7709,N,-12158.6934,W,1,03,00.5,080.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215423.03,3648.7702,N,-12158.6928,W,1,03,00.5,078.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215424.03,3648.7695,N,-12158.6923,W,1,03,00.5,078.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215425.03,3648.7688,N,-12158.6917,W,1,03,00.5,078.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4074593.91, 591140.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215426.03,3648.7681,N,-12158.6911,W,1,03,00.5,077.8,M,-99.9,M,,*4d : Estimated North Bias at time = 1020.00 : -14.00 : Estimated East Bias at time = 1020.00 : 6.00 : Estimated Depth Bias at time = 1020.00 : 1.42 : Estimated northing and easting = 4074579.91 : 591146.37 : AshtechGps::processRecord() - $GPGGA,215427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215427.03,3648.7674,N,-12158.6905,W,1,03,00.5,078.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215428.03,3648.7667,N,-12158.6899,W,1,03,00.5,076.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215429.03,3648.7660,N,-12158.6893,W,1,03,00.5,078.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215430.03,3648.7653,N,-12158.6887,W,1,03,00.5,076.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215431.03,3648.7646,N,-12158.6881,W,1,03,00.5,076.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215432.03,3648.7639,N,-12158.6875,W,1,03,00.5,077.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215433.03,3648.7632,N,-12158.6870,W,1,03,00.5,076.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215434.03,3648.7625,N,-12158.6864,W,1,03,00.5,076.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215435.03,3648.7618,N,-12158.6858,W,1,03,00.5,076.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4074581.21, 591149.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215436.03,3648.7612,N,-12158.6852,W,1,03,00.5,076.1,M,-99.9,M,,*48 : Estimated North Bias at time = 1030.00 : -14.00 : Estimated East Bias at time = 1030.00 : 6.00 : Estimated Depth Bias at time = 1030.00 : 0.37 : Estimated northing and easting = 4074567.21 : 591155.18 : AshtechGps::processRecord() - $GPGGA,215437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215437.03,3648.7605,N,-12158.6846,W,1,03,00.5,076.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215438.03,3648.7598,N,-12158.6840,W,1,03,00.5,075.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215439.03,3648.7591,N,-12158.6834,W,1,03,00.5,075.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215440.03,3648.7585,N,-12158.6828,W,1,03,00.5,075.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215441.03,3648.7578,N,-12158.6822,W,1,03,00.5,075.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215442.03,3648.7571,N,-12158.6816,W,1,03,00.5,075.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215443.03,3648.7564,N,-12158.6810,W,1,03,00.5,074.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215444.03,3648.7558,N,-12158.6804,W,1,03,00.5,075.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215445.03,3648.7551,N,-12158.6798,W,1,03,00.5,073.6,M,-99.9,M,,*43 : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4074568.81, 591158.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215446.03,3648.7544,N,-12158.6792,W,1,03,00.5,074.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215447.03,3648.7537,N,-12158.6786,W,1,03,00.5,074.3,M,-99.9,M,,*4c : Estimated North Bias at time = 1040.00 : -14.00 : Estimated East Bias at time = 1040.00 : 6.00 : Estimated Depth Bias at time = 1040.00 : 0.51 : Estimated northing and easting = 4074554.81 : 591164.32 : AshtechGps::processRecord() - $GPGGA,215448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215448.03,3648.7530,N,-12158.6780,W,1,03,00.5,072.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215449.03,3648.7524,N,-12158.6774,W,1,03,00.5,072.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=2.51 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074563.1, 591162.4), reached at t = 1092.00 (wplog) : Vehicle Position is error is (0.1, 0.0) : LayeredControl::execute() -- (t = 1091.995193) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1092.00 (wplog) The current location (N,E) = 4074563.1 , 591162.4 (wplog) The next waypoint = 4074590.0 , 591294.7 (wplog) The bearing to the next w.p. is 78.5 Degrees. : LayeredControl::execute() -- (t = 1092.005193) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,215450.03,3648.7517,N,-12158.6768,W,1,03,00.5,073.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215451.03,3648.7510,N,-12158.6763,W,1,03,00.5,071.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215452.03,3648.7503,N,-12158.6756,W,1,03,00.5,072.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215453.03,3648.7497,N,-12158.6750,W,1,03,00.5,072.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215454.03,3648.7491,N,-12158.6743,W,1,03,00.5,072.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215455.03,3648.7486,N,-12158.6736,W,1,03,00.5,066.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4074557.03, 591167.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215456.03,3648.7482,N,-12158.6728,W,1,03,00.5,065.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : Estimated North Bias at time = 1050.00 : -13.00 : Estimated East Bias at time = 1050.00 : 4.00 : Estimated Depth Bias at time = 1050.00 : 0.18 : Estimated northing and easting = 4074544.03 : 591171.70 : NMEA Update: $GPGGA,215457.03,3648.7479,N,-12158.6719,W,1,03,00.5,063.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215458.03,3648.7477,N,-12158.6710,W,1,03,00.5,066.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215459.03,3648.7476,N,-12158.6702,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215500.03,3648.7477,N,-12158.6694,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,215501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215501.03,3648.7478,N,-12158.6687,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,215502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215502.03,3648.7480,N,-12158.6680,W,1,03,00.5,053.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215503.03,3648.7483,N,-12158.6674,W,1,03,00.5,054.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215504.03,3648.7486,N,-12158.6668,W,1,03,00.5,053.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215505.03,3648.7490,N,-12158.6662,W,1,03,00.5,053.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4074558.54, 591178.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215506.03,3648.7494,N,-12158.6656,W,1,03,00.5,058.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1060.00 : -12.00 : Estimated East Bias at time = 1060.00 : 4.00 : Estimated Depth Bias at time = 1060.00 : 0.17 : Estimated northing and easting = 4074546.54 : 591182.64 : NMEA Update: $GPGGA,215507.03,3648.7498,N,-12158.6650,W,1,03,00.5,059.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215508.03,3648.7503,N,-12158.6645,W,1,03,00.5,054.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215509.03,3648.7507,N,-12158.6639,W,1,03,00.5,054.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215510.03,3648.7512,N,-12158.6633,W,1,03,00.5,054.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215511.03,3648.7517,N,-12158.6627,W,1,03,00.5,055.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215512.03,3648.7522,N,-12158.6621,W,1,03,00.5,054.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215513.03,3648.7526,N,-12158.6614,W,1,03,00.5,054.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215514.03,3648.7531,N,-12158.6608,W,1,03,00.5,054.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215515.03,3648.7536,N,-12158.6600,W,1,03,00.5,053.0,M,-99.9,M,,*42 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4074567.22, 591187.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215516.03,3648.7540,N,-12158.6593,W,1,03,00.5,053.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : Estimated North Bias at time = 1070.00 : -12.00 : Estimated East Bias at time = 1070.00 : 5.00 : Estimated Depth Bias at time = 1070.00 : 0.58 : Estimated northing and easting = 4074555.22 : 591192.76 : AshtechGps::processRecord() - $GPGGA,215517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215517.03,3648.7545,N,-12158.6585,W,1,03,00.5,053.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215518.03,3648.7549,N,-12158.6577,W,1,03,00.5,052.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215519.03,3648.7554,N,-12158.6569,W,1,03,00.5,058.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215520.03,3648.7558,N,-12158.6560,W,1,03,00.5,058.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215521.03,3648.7561,N,-12158.6552,W,1,03,00.5,058.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215522.03,3648.7565,N,-12158.6543,W,1,03,00.5,058.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215523.03,3648.7568,N,-12158.6533,W,1,03,00.5,058.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215524.03,3648.7571,N,-12158.6524,W,1,03,00.5,058.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215525.03,3648.7574,N,-12158.6515,W,1,03,00.5,058.2,M,-99.9,M,,*49 : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4074574.28, 591200.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215526.03,3648.7577,N,-12158.6505,W,1,03,00.5,058.2,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215527.03,3648.7579,N,-12158.6495,W,1,03,00.5,058.2,M,-99.9,M,,*4f : Estimated North Bias at time = 1080.00 : -12.00 : Estimated East Bias at time = 1080.00 : 5.00 : Estimated Depth Bias at time = 1080.00 : 0.70 : Estimated northing and easting = 4074562.28 : 591205.57 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215528.03,3648.7581,N,-12158.6485,W,1,03,00.5,059.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215529.03,3648.7584,N,-12158.6475,W,1,03,00.5,058.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215530.03,3648.7585,N,-12158.6465,W,1,03,00.5,058.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215531.03,3648.7587,N,-12158.6455,W,1,03,00.5,058.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215532.03,3648.7589,N,-12158.6444,W,1,03,00.5,058.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215533.03,3648.7591,N,-12158.6434,W,1,03,00.5,057.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215534.03,3648.7593,N,-12158.6423,W,1,03,00.5,057.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215535.03,3648.7594,N,-12158.6413,W,1,03,00.5,058.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4074578.09, 591215.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215536.03,3648.7596,N,-12158.6402,W,1,03,00.5,057.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215537.03,3648.7597,N,-12158.6391,W,1,03,00.5,058.7,M,-99.9,M,,*48 : Estimated North Bias at time = 1090.00 : -13.00 : Estimated East Bias at time = 1090.00 : 4.00 : Estimated Depth Bias at time = 1090.00 : -0.04 : Estimated northing and easting = 4074565.09 : 591219.74 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215538.03,3648.7599,N,-12158.6380,W,1,03,00.5,058.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215539.03,3648.7600,N,-12158.6369,W,1,03,00.5,059.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215540.03,3648.7601,N,-12158.6358,W,1,03,00.5,060.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215541.03,3648.7602,N,-12158.6346,W,1,03,00.5,061.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215542.03,3648.7602,N,-12158.6335,W,1,03,00.5,062.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215543.04,3648.7603,N,-12158.6324,W,1,03,00.5,063.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215544.04,3648.7604,N,-12158.6313,W,1,03,00.5,060.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215545.04,3648.7604,N,-12158.6303,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4074580.05, 591232.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215546.04,3648.7605,N,-12158.6293,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated North Bias at time = 1099.99 : -13.00 : Estimated East Bias at time = 1099.99 : 4.00 : Estimated Depth Bias at time = 1099.99 : -0.04 : Estimated northing and easting = 4074567.05 : 591236.02 : AshtechGps::processRecord() - $GPGGA,215547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215547.04,3648.7606,N,-12158.6283,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215548.04,3648.7606,N,-12158.6277,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215549.04,3648.7606,N,-12158.6269,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,215550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215550.04,3648.7607,N,-12158.6259,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,215551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215551.04,3648.7608,N,-12158.6248,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215552.04,3648.7608,N,-12158.6238,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,215553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215553.04,3648.7609,N,-12158.6228,W,1,03,00.5,056.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215554.04,3648.7610,N,-12158.6218,W,1,03,00.5,055.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215555.04,3648.7610,N,-12158.6206,W,1,03,00.5,055.5,M,-99.9,M,,*47 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4074581.32, 591246.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215556.04,3648.7611,N,-12158.6195,W,1,03,00.5,055.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1109.99 : -13.00 : Estimated East Bias at time = 1109.99 : 3.00 : Estimated Depth Bias at time = 1109.99 : -0.92 : Estimated northing and easting = 4074568.32 : 591249.42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215557.04,3648.7612,N,-12158.6184,W,1,03,00.5,057.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215558.04,3648.7613,N,-12158.6173,W,1,03,00.5,056.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215559.04,3648.7613,N,-12158.6162,W,1,03,00.5,055.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215600.04,3648.7614,N,-12158.6151,W,1,03,00.5,055.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215601.04,3648.7615,N,-12158.6140,W,1,03,00.5,055.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215602.04,3648.7616,N,-12158.6129,W,1,03,00.5,051.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215603.04,3648.7617,N,-12158.6119,W,1,03,00.5,051.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215604.04,3648.7618,N,-12158.6109,W,1,03,00.5,051.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215605.04,3648.7619,N,-12158.6099,W,1,03,00.5,050.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1119.993275 : TerrainNav update at dvl time = 1119.993275 : _navData-> (x,y) = (4074583.11, 591262.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215606.04,3648.7620,N,-12158.6089,W,1,03,00.5,049.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215607.04,3648.7622,N,-12158.6078,W,1,03,00.5,048.6,M,-99.9,M,,*46 : Estimated North Bias at time = 1119.99 : -13.00 : Estimated East Bias at time = 1119.99 : 3.00 : Estimated Depth Bias at time = 1119.99 : -1.16 : Estimated northing and easting = 4074570.11 : 591265.28 : AshtechGps::processRecord() - $GPGGA,215608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215608.04,3648.7623,N,-12158.6067,W,1,03,00.5,049.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215609.04,3648.7624,N,-12158.6056,W,1,03,00.5,048.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215610.04,3648.7626,N,-12158.6045,W,1,03,00.5,047.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215611.04,3648.7627,N,-12158.6034,W,1,03,00.5,047.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215612.04,3648.7629,N,-12158.6022,W,1,03,00.5,046.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215613.04,3648.7630,N,-12158.6011,W,1,03,00.5,046.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215614.04,3648.7631,N,-12158.6000,W,1,03,00.5,045.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215615.04,3648.7633,N,-12158.5990,W,1,03,00.5,044.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1130.002589 : TerrainNav update at dvl time = 1130.002589 : _navData-> (x,y) = (4074585.88, 591278.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215616.04,3648.7634,N,-12158.5979,W,1,03,00.5,044.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215617.04,3648.7636,N,-12158.5969,W,1,03,00.5,039.6,M,-99.9,M,,*4e : Estimated North Bias at time = 1130.00 : -9.00 : Estimated East Bias at time = 1130.00 : 2.00 : Estimated Depth Bias at time = 1130.00 : -2.18 : Estimated northing and easting = 4074576.88 : 591280.58 : AshtechGps::processRecord() - $GPGGA,215618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215618.04,3648.7637,N,-12158.5959,W,1,03,00.5,039.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215619.04,3648.7639,N,-12158.5949,W,1,03,00.5,038.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215620.04,3648.7640,N,-12158.5938,W,1,03,00.5,038.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215621.04,3648.7642,N,-12158.5928,W,1,03,00.5,038.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215622.04,3648.7644,N,-12158.5917,W,1,03,00.5,040.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215623.04,3648.7646,N,-12158.5906,W,1,03,00.5,040.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,215624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215624.04,3648.7648,N,-12158.5895,W,1,03,00.5,039.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.00 horzlMode=3 horz=1.37 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,215625.04,3648.7650,N,-12158.5884,W,1,03,00.5,039.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4074589.19, 591294.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074590.0, 591294.7), reached at t = 1187.80 (wplog) : Vehicle Position is error is (0.6, -0.2) : LayeredControl::execute() -- (t = 1187.798630) Behavior waypoint:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1187.80 (wplog) The current location (N,E) = 4074589.3 , 591294.9 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 95.6 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1187.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1187.81 Seconds. : The vehicle position is (4074589.3, 591294.9) : LayeredControl::execute() -- (t = 1187.808630) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,215626.04,3648.7652,N,-12158.5873,W,1,03,00.5,038.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215627.04,3648.7653,N,-12158.5862,W,1,03,00.5,037.7,M,-99.9,M,,*4b : Estimated North Bias at time = 1140.00 : -9.00 : Estimated East Bias at time = 1140.00 : 3.00 : Estimated Depth Bias at time = 1140.00 : -2.06 : Estimated northing and easting = 4074580.19 : 591297.28 : AshtechGps::processRecord() - $GPGGA,215628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215628.03,3648.7655,N,-12158.5851,W,1,03,00.5,036.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215629.03,3648.7657,N,-12158.5841,W,1,03,00.5,036.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215630.03,3648.7659,N,-12158.5831,W,1,03,00.5,036.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215631.03,3648.7662,N,-12158.5821,W,1,03,00.5,036.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215632.03,3648.7666,N,-12158.5813,W,1,03,00.5,035.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215633.03,3648.7670,N,-12158.5805,W,1,03,00.5,035.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215634.03,3648.7674,N,-12158.5799,W,1,03,00.5,035.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215635.03,3648.7679,N,-12158.5793,W,1,03,00.5,035.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4074594.87, 591307.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215636.03,3648.7683,N,-12158.5789,W,1,03,00.5,031.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215637.03,3648.7687,N,-12158.5786,W,1,03,00.5,032.0,M,-99.9,M,,*43 : Estimated North Bias at time = 1150.00 : -19.00 : Estimated East Bias at time = 1150.00 : 1.00 : Estimated Depth Bias at time = 1150.00 : -2.46 : Estimated northing and easting = 4074575.87 : 591308.26 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215638.03,3648.7692,N,-12158.5783,W,1,03,00.5,031.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1201.00 Seconds. : The vehicle position is is (4074597.7, 591308.8) : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215639.03,3648.7696,N,-12158.5781,W,1,03,00.5,032.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215640.03,3648.7699,N,-12158.5779,W,1,03,00.5,032.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215641.03,3648.7703,N,-12158.5778,W,1,03,00.5,031.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215642.03,3648.7707,N,-12158.5776,W,1,03,00.5,031.9,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215643.03,3648.7710,N,-12158.5775,W,1,03,00.5,031.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215644.03,3648.7714,N,-12158.5774,W,1,03,00.5,031.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215645.03,3648.7718,N,-12158.5772,W,1,03,00.5,032.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4074602.11, 591310.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,215646.03,3648.7722,N,-12158.5771,W,1,03,00.5,031.8,M,-99.9,M,,*48 : Estimated North Bias at time = 1160.00 : -19.00 : Estimated East Bias at time = 1160.00 : 2.00 : Estimated Depth Bias at time = 1160.00 : -2.17 : Estimated northing and easting = 4074583.11 : 591312.14 : AshtechGps::processRecord() - $GPGGA,215647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215647.03,3648.7726,N,-12158.5770,W,1,03,00.5,031.1,M,-99.9,M,,*45 : WaypointHoming: The Usbl has aquired the transponder at t = 1209.40 Seconds. : The vehicle position is (4074603.5, 591310.5) : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215648.03,3648.7730,N,-12158.5769,W,1,03,00.5,031.0,M,-99.9,M,,*44 : WaypointHoming:: Beacon has exited the Usbl Fov at t = 1210.4 with dtw = 232.05 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1210.40 Seconds. : The vehicle position is is (4074604.3, 591310.6) : AshtechGps::processRecord() - $GPGGA,215649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215649.03,3648.7734,N,-12158.5768,W,1,03,00.5,030.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215650.03,3648.7737,N,-12158.5767,W,1,03,00.5,030.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215651.03,3648.7742,N,-12158.5767,W,1,03,00.5,030.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215652.03,3648.7746,N,-12158.5766,W,1,03,00.5,030.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215653.03,3648.7750,N,-12158.5766,W,1,03,00.5,029.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215654.03,3648.7754,N,-12158.5765,W,1,03,00.5,029.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215655.03,3648.7758,N,-12158.5765,W,1,03,00.5,029.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4074609.46, 591311.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215656.03,3648.7762,N,-12158.5765,W,1,03,00.5,028.8,M,-99.9,M,,*40 : Estimated North Bias at time = 1170.00 : -20.00 : Estimated East Bias at time = 1170.00 : 1.00 : Estimated Depth Bias at time = 1170.00 : -2.55 : Estimated northing and easting = 4074589.46 : 591312.07 : AshtechGps::processRecord() - $GPGGA,215657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215657.03,3648.7766,N,-12158.5765,W,1,03,00.5,029.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215658.03,3648.7770,N,-12158.5764,W,1,03,00.5,029.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215659.03,3648.7774,N,-12158.5764,W,1,03,00.5,029.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215700.03,3648.7778,N,-12158.5764,W,1,03,00.5,028.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215701.03,3648.7782,N,-12158.5763,W,1,03,00.5,028.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215702.03,3648.7786,N,-12158.5763,W,1,03,00.5,028.8,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,215703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215703.03,3648.7791,N,-12158.5763,W,1,03,00.5,028.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215704.03,3648.7795,N,-12158.5763,W,1,03,00.5,028.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215705.03,3648.7799,N,-12158.5762,W,1,03,00.5,028.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4074617.19, 591311.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215706.03,3648.7804,N,-12158.5762,W,1,03,00.5,028.3,M,-99.9,M,,*47 : Estimated North Bias at time = 1180.00 : -21.00 : Estimated East Bias at time = 1180.00 : 1.00 : Estimated Depth Bias at time = 1180.00 : -2.37 : Estimated northing and easting = 4074596.19 : 591312.38 : AshtechGps::processRecord() - $GPGGA,215707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215707.03,3648.7808,N,-12158.5762,W,1,03,00.5,028.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215708.03,3648.7812,N,-12158.5762,W,1,03,00.5,028.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215709.03,3648.7816,N,-12158.5761,W,1,03,00.5,027.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215710.03,3648.7821,N,-12158.5761,W,1,03,00.5,027.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215711.03,3648.7825,N,-12158.5761,W,1,03,00.5,027.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215712.03,3648.7829,N,-12158.5761,W,1,03,00.5,027.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215713.03,3648.7834,N,-12158.5761,W,1,03,00.5,027.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215714.03,3648.7838,N,-12158.5761,W,1,03,00.5,028.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215715.03,3648.7843,N,-12158.5762,W,1,03,00.5,027.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4074625.27, 591311.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215716.03,3648.7847,N,-12158.5762,W,1,03,00.5,027.5,M,-99.9,M,,*48 : Estimated North Bias at time = 1190.00 : -21.00 : Estimated East Bias at time = 1190.00 : 3.00 : Estimated Depth Bias at time = 1190.00 : -1.60 : Estimated northing and easting = 4074604.27 : 591314.40 : AshtechGps::processRecord() - $GPGGA,215717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215717.03,3648.7852,N,-12158.5762,W,1,03,00.5,027.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215718.03,3648.7857,N,-12158.5762,W,1,03,00.5,027.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215719.03,3648.7861,N,-12158.5762,W,1,03,00.5,027.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215720.03,3648.7866,N,-12158.5762,W,1,03,00.5,026.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215721.03,3648.7871,N,-12158.5762,W,1,03,00.5,026.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215722.03,3648.7875,N,-12158.5762,W,1,03,00.5,026.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215723.03,3648.7880,N,-12158.5762,W,1,03,00.5,026.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215724.03,3648.7885,N,-12158.5763,W,1,03,00.5,026.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215725.03,3648.7890,N,-12158.5763,W,1,03,00.5,026.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1199.997794 : TerrainNav update at dvl time = 1199.997794 : _navData-> (x,y) = (4074633.94, 591311.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215726.03,3648.7892,N,-12158.5763,W,1,03,00.5,016.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1200.00 : -21.00 : Estimated East Bias at time = 1200.00 : 4.00 : Estimated Depth Bias at time = 1200.00 : -1.12 : Estimated northing and easting = 4074612.94 : 591315.10 : AshtechGps::processRecord() - $GPGGA,215727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215727.03,3648.7896,N,-12158.5763,W,1,03,00.5,025.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215728.03,3648.7901,N,-12158.5764,W,1,03,00.5,025.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215729.03,3648.7906,N,-12158.5764,W,1,03,00.5,026.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215730.03,3648.7911,N,-12158.5764,W,1,03,00.5,026.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215731.03,3648.7916,N,-12158.5764,W,1,03,00.5,026.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215732.03,3648.7921,N,-12158.5764,W,1,03,00.5,025.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215733.03,3648.7926,N,-12158.5764,W,1,03,00.5,026.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215734.03,3648.7931,N,-12158.5764,W,1,03,00.5,026.0,M,-99.9,M,,*4a : WaypointHoming:: Beacon is in the Usbl Fov at t = 1256.4 with dtw = 231.71 : AshtechGps::processRecord() - $GPGGA,215735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215735.03,3648.7936,N,-12158.5763,W,1,03,00.5,026.3,M,-99.9,M,,*48 : WaypointHoming: The Usbl has aquired the transponder at t = 1257.19 Seconds. : The vehicle position is (4074642.3, 591311.0) : TerrainNav update at nav time = 1209.997109 : TerrainNav update at dvl time = 1209.997109 : _navData-> (x,y) = (4074642.50, 591310.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215736.03,3648.7941,N,-12158.5763,W,1,03,00.5,026.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1210.00 : -21.00 : Estimated East Bias at time = 1210.00 : 4.00 : Estimated Depth Bias at time = 1210.00 : -0.92 : Estimated northing and easting = 4074621.50 : 591314.98 : AshtechGps::processRecord() - $GPGGA,215737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215737.03,3648.7946,N,-12158.5762,W,1,03,00.5,026.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215738.03,3648.7951,N,-12158.5761,W,1,03,00.5,026.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1260.79 Seconds. : The vehicle position is is (4074645.7, 591311.4) : NMEA Update: $GPGGA,215739.03,3648.7956,N,-12158.5760,W,1,03,00.5,026.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215740.03,3648.7961,N,-12158.5759,W,1,03,00.5,026.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215741.03,3648.7966,N,-12158.5757,W,1,03,00.5,026.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215742.03,3648.7970,N,-12158.5755,W,1,03,00.5,026.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215743.03,3648.7975,N,-12158.5753,W,1,03,00.5,026.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1265.99 Seconds. : The vehicle position is (4074650.3, 591312.9) : NMEA Update: $GPGGA,215744.03,3648.7980,N,-12158.5750,W,1,03,00.5,026.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215745.03,3648.7984,N,-12158.5747,W,1,03,00.5,024.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 1219.996424 : TerrainNav update at dvl time = 1219.996424 : _navData-> (x,y) = (4074651.28, 591313.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215746.03,3648.7987,N,-12158.5744,W,1,03,00.5,024.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1220.00 : -22.00 : Estimated East Bias at time = 1220.00 : 4.00 : Estimated Depth Bias at time = 1220.00 : -0.39 : Estimated northing and easting = 4074629.28 : 591317.45 : AshtechGps::processRecord() - $GPGGA,215747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215747.03,3648.7991,N,-12158.5741,W,1,03,00.5,024.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215748.03,3648.7995,N,-12158.5739,W,1,03,00.5,024.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215749.03,3648.7998,N,-12158.5735,W,1,03,00.5,024.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215750.03,3648.8002,N,-12158.5732,W,1,03,00.5,024.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215751.03,3648.8005,N,-12158.5727,W,1,03,00.5,024.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215752.03,3648.8008,N,-12158.5723,W,1,03,00.5,024.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215753.03,3648.8011,N,-12158.5720,W,1,03,00.5,023.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215754.03,3648.8014,N,-12158.5716,W,1,03,00.5,023.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215755.03,3648.8017,N,-12158.5712,W,1,03,00.5,023.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 1229.995739 : TerrainNav update at dvl time = 1229.995739 : _navData-> (x,y) = (4074657.43, 591318.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215756.03,3648.8020,N,-12158.5708,W,1,03,00.5,023.7,M,-99.9,M,,*40 : Estimated North Bias at time = 1230.00 : -20.00 : Estimated East Bias at time = 1230.00 : 5.00 : Estimated Depth Bias at time = 1230.00 : 0.26 : Estimated northing and easting = 4074637.43 : 591323.74 : AshtechGps::processRecord() - $GPGGA,215757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215757.03,3648.8023,N,-12158.5703,W,1,03,00.5,023.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215758.03,3648.8025,N,-12158.5698,W,1,03,00.5,023.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215759.03,3648.8028,N,-12158.5693,W,1,03,00.5,023.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215800.03,3648.8031,N,-12158.5688,W,1,03,00.5,023.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215801.03,3648.8034,N,-12158.5683,W,1,03,00.5,024.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215802.03,3648.8037,N,-12158.5677,W,1,03,00.5,024.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215803.03,3648.8039,N,-12158.5672,W,1,03,00.5,024.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215804.03,3648.8042,N,-12158.5666,W,1,03,00.5,023.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215805.03,3648.8044,N,-12158.5660,W,1,03,00.5,023.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 1239.995054 : TerrainNav update at dvl time = 1239.995054 : _navData-> (x,y) = (4074662.52, 591326.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215806.03,3648.8047,N,-12158.5654,W,1,03,00.5,023.3,M,-99.9,M,,*47 : Estimated North Bias at time = 1240.00 : -20.00 : Estimated East Bias at time = 1240.00 : 5.00 : Estimated Depth Bias at time = 1240.00 : 0.52 : Estimated northing and easting = 4074642.52 : 591331.48 : AshtechGps::processRecord() - $GPGGA,215807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215807.03,3648.8049,N,-12158.5648,W,1,03,00.5,023.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215808.03,3648.8051,N,-12158.5641,W,1,03,00.5,022.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215808.84,3648.8052,N,-12158.5636,W,1,03,00.5,022.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215809.84,3648.8053,N,-12158.5630,W,1,03,00.5,022.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215810.84,3648.8054,N,-12158.5624,W,1,03,00.5,022.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215811.84,3648.8055,N,-12158.5618,W,1,03,00.5,021.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215812.84,3648.8056,N,-12158.5612,W,1,03,00.5,021.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215813.84,3648.8056,N,-12158.5606,W,1,03,00.5,021.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215814.84,3648.8056,N,-12158.5600,W,1,03,00.5,021.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4074664.57, 591335.57) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215815.84,3648.8056,N,-12158.5594,W,1,03,00.5,021.2,M,-99.9,M,,*46 : Estimated North Bias at time = 1249.99 : -20.00 : Estimated East Bias at time = 1249.99 : 6.00 : Estimated Depth Bias at time = 1249.99 : 0.91 : Estimated northing and easting = 4074644.57 : 591341.57 : AshtechGps::processRecord() - $GPGGA,215817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215816.84,3648.8055,N,-12158.5588,W,1,03,00.5,021.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215817.84,3648.8055,N,-12158.5581,W,1,03,00.5,021.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215818.84,3648.8055,N,-12158.5575,W,1,03,00.5,021.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215819.84,3648.8055,N,-12158.5569,W,1,03,00.5,020.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215820.84,3648.8055,N,-12158.5562,W,1,03,00.5,020.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215821.84,3648.8055,N,-12158.5556,W,1,03,00.5,020.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215822.84,3648.8056,N,-12158.5549,W,1,03,00.5,020.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215823.84,3648.8057,N,-12158.5543,W,1,03,00.5,020.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215824.84,3648.8058,N,-12158.5537,W,1,03,00.5,020.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074665.25, 591344.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215825.84,3648.8060,N,-12158.5531,W,1,03,00.5,019.7,M,-99.9,M,,*41 : Estimated North Bias at time = 1259.99 : -19.00 : Estimated East Bias at time = 1259.99 : 5.00 : Estimated Depth Bias at time = 1259.99 : 0.72 : Estimated northing and easting = 4074646.25 : 591349.89 : AshtechGps::processRecord() - $GPGGA,215827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215826.84,3648.8061,N,-12158.5525,W,1,03,00.5,019.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215827.84,3648.8063,N,-12158.5520,W,1,03,00.5,019.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215828.84,3648.8065,N,-12158.5514,W,1,03,00.5,019.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215829.84,3648.8067,N,-12158.5509,W,1,03,00.5,019.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215830.84,3648.8069,N,-12158.5503,W,1,03,00.5,019.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215831.84,3648.8071,N,-12158.5497,W,1,03,00.5,019.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215832.84,3648.8073,N,-12158.5492,W,1,03,00.5,019.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215833.84,3648.8076,N,-12158.5486,W,1,03,00.5,019.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215834.84,3648.8078,N,-12158.5480,W,1,03,00.5,019.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1270.002999 : TerrainNav update at dvl time = 1270.002999 : _navData-> (x,y) = (4074669.12, 591353.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215835.84,3648.8080,N,-12158.5474,W,1,03,00.5,019.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1270.00 : -19.00 : Estimated East Bias at time = 1270.00 : 5.00 : Estimated Depth Bias at time = 1270.00 : 0.68 : Estimated northing and easting = 4074650.12 : 591358.32 : AshtechGps::processRecord() - $GPGGA,215837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215836.84,3648.8083,N,-12158.5468,W,1,03,00.5,019.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215837.84,3648.8085,N,-12158.5462,W,1,03,00.5,018.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215838.84,3648.8087,N,-12158.5456,W,1,03,00.5,018.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215839.84,3648.8089,N,-12158.5450,W,1,03,00.5,018.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,215841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215840.84,3648.8090,N,-12158.5444,W,1,03,00.5,018.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215841.84,3648.8092,N,-12158.5437,W,1,03,00.5,018.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215842.84,3648.8093,N,-12158.5431,W,1,03,00.5,018.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215843.84,3648.8094,N,-12158.5425,W,1,03,00.5,018.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215844.84,3648.8094,N,-12158.5418,W,1,03,00.5,018.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4074672.06, 591362.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215845.84,3648.8095,N,-12158.5412,W,1,03,00.5,017.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1280.00 : -19.00 : Estimated East Bias at time = 1280.00 : 5.00 : Estimated Depth Bias at time = 1280.00 : 0.58 : Estimated northing and easting = 4074653.06 : 591367.53 : AshtechGps::processRecord() - $GPGGA,215847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215846.84,3648.8095,N,-12158.5405,W,1,03,00.5,017.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215847.84,3648.8095,N,-12158.5399,W,1,03,00.5,017.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215848.84,3648.8095,N,-12158.5393,W,1,03,00.5,017.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215849.84,3648.8094,N,-12158.5387,W,1,03,00.5,017.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215850.84,3648.8093,N,-12158.5381,W,1,03,00.5,017.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215851.84,3648.8092,N,-12158.5375,W,1,03,00.5,017.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215852.84,3648.8090,N,-12158.5369,W,1,03,00.5,017.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215853.84,3648.8088,N,-12158.5364,W,1,03,00.5,017.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215854.83,3648.8086,N,-12158.5358,W,1,03,00.5,017.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074670.41, 591371.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215855.83,3648.8085,N,-12158.5353,W,1,03,00.5,017.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1290.00 : -18.00 : Estimated East Bias at time = 1290.00 : 6.00 : Estimated Depth Bias at time = 1290.00 : 0.66 : Estimated northing and easting = 4074652.41 : 591377.36 : AshtechGps::processRecord() - $GPGGA,215857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215856.83,3648.8083,N,-12158.5347,W,1,03,00.5,017.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215857.83,3648.8081,N,-12158.5342,W,1,03,00.5,017.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215858.83,3648.8079,N,-12158.5336,W,1,03,00.5,017.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215859.83,3648.8077,N,-12158.5331,W,1,03,00.5,017.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215900.83,3648.8075,N,-12158.5325,W,1,03,00.5,017.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215901.83,3648.8074,N,-12158.5319,W,1,03,00.5,016.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215902.83,3648.8073,N,-12158.5313,W,1,03,00.5,016.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215903.83,3648.8072,N,-12158.5307,W,1,03,00.5,016.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215904.83,3648.8071,N,-12158.5301,W,1,03,00.5,016.7,M,-99.9,M,,*4e : TerrainNav update at nav time = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4074667.82, 591380.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215905.83,3648.8070,N,-12158.5294,W,1,03,00.5,016.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1300.00 : -18.00 : Estimated East Bias at time = 1300.00 : 6.00 : Estimated Depth Bias at time = 1300.00 : 0.68 : Estimated northing and easting = 4074649.82 : 591386.06 : AshtechGps::processRecord() - $GPGGA,215907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215906.83,3648.8070,N,-12158.5288,W,1,03,00.5,016.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215907.83,3648.8069,N,-12158.5281,W,1,03,00.5,016.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215908.83,3648.8068,N,-12158.5275,W,1,03,00.5,016.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215909.83,3648.8067,N,-12158.5269,W,1,03,00.5,016.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215910.83,3648.8066,N,-12158.5262,W,1,03,00.5,016.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215911.83,3648.8065,N,-12158.5256,W,1,03,00.5,016.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215912.83,3648.8064,N,-12158.5250,W,1,03,00.5,016.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215913.83,3648.8063,N,-12158.5243,W,1,03,00.5,015.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215914.83,3648.8062,N,-12158.5237,W,1,03,00.5,015.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 1310.000259 : TerrainNav update at dvl time = 1310.000259 : _navData-> (x,y) = (4074666.14, 591389.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215915.83,3648.8061,N,-12158.5231,W,1,03,00.5,015.8,M,-99.9,M,,*41 : Estimated North Bias at time = 1310.00 : -18.00 : Estimated East Bias at time = 1310.00 : 6.00 : Estimated Depth Bias at time = 1310.00 : 0.74 : Estimated northing and easting = 4074648.14 : 591395.52 : AshtechGps::processRecord() - $GPGGA,215917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215916.83,3648.8060,N,-12158.5224,W,1,03,00.5,015.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215917.83,3648.8059,N,-12158.5217,W,1,03,00.5,015.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215918.83,3648.8058,N,-12158.5211,W,1,03,00.5,015.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215919.83,3648.8058,N,-12158.5204,W,1,03,00.5,015.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215920.83,3648.8057,N,-12158.5197,W,1,03,00.5,015.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215921.83,3648.8056,N,-12158.5190,W,1,03,00.5,014.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215922.83,3648.8056,N,-12158.5183,W,1,03,00.5,015.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215923.83,3648.8055,N,-12158.5176,W,1,03,00.5,014.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215924.83,3648.8055,N,-12158.5170,W,1,03,00.5,014.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074664.99, 591399.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=80.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215925.83,3648.8054,N,-12158.5163,W,1,03,00.5,014.5,M,-99.9,M,,*4c : WaypointHoming has set the state to finished. : WaypointHoming (4074663.9, 591550.1), reached at t = 1368.00 (wplog) : Vehicle Position error is (-1.0, 149.9) : The distance to the waypoint is 149.9. : LayeredControl::execute() -- (t = 1367.996286) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1368.00 (wplog) The current location (N,E) = 4074664.9 , 591400.2 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 122.1 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1368.0 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1368.01 Seconds. : The vehicle position is (4074664.9, 591400.2) : LayeredControl::execute() -- (t = 1368.006285) Behavior waypoint_homing:-1 has changed to state Active : Estimated North Bias at time = 1320.00 : -18.00 : Estimated East Bias at time = 1320.00 : 6.00 : Estimated Depth Bias at time = 1320.00 : 0.67 : Estimated northing and easting = 4074646.99 : 591405.58 : AshtechGps::processRecord() - $GPGGA,215927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215926.83,3648.8054,N,-12158.5156,W,1,03,00.5,014.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=91.85 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215927.83,3648.8053,N,-12158.5150,W,1,03,00.5,014.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=91.87 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215928.83,3648.8052,N,-12158.5143,W,1,03,00.5,014.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=91.59 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215929.83,3648.8052,N,-12158.5136,W,1,03,00.5,014.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215930.83,3648.8052,N,-12158.5130,W,1,03,00.5,014.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=91.60 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215931.83,3648.8052,N,-12158.5123,W,1,03,00.5,014.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=91.47 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215932.83,3648.8053,N,-12158.5116,W,1,03,00.5,013.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215933.83,3648.8053,N,-12158.5109,W,1,03,00.5,013.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=91.42 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215934.83,3648.8054,N,-12158.5102,W,1,03,00.5,013.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=91.16 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1329.998889 : TerrainNav update at dvl time = 1329.998889 : _navData-> (x,y) = (4074665.21, 591409.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215935.83,3648.8055,N,-12158.5095,W,1,03,00.5,013.5,M,-99.9,M,,*43 : Estimated North Bias at time = 1330.00 : -19.00 : Estimated East Bias at time = 1330.00 : 6.00 : Estimated Depth Bias at time = 1330.00 : 0.53 : Estimated northing and easting = 4074646.21 : 591415.64 : AshtechGps::processRecord() - $GPGGA,215937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=91.13 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215936.83,3648.8057,N,-12158.5089,W,1,03,00.5,013.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215937.83,3648.8058,N,-12158.5082,W,1,03,00.5,013.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=91.03 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215938.83,3648.8059,N,-12158.5076,W,1,03,00.5,013.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.83 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215939.83,3648.8060,N,-12158.5069,W,1,03,00.5,013.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215940.83,3648.8061,N,-12158.5063,W,1,03,00.5,012.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.84 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215941.83,3648.8061,N,-12158.5057,W,1,03,00.5,012.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.80 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215942.83,3648.8062,N,-12158.5051,W,1,03,00.5,012.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.73 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215943.83,3648.8062,N,-12158.5045,W,1,03,00.5,012.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215944.83,3648.8062,N,-12158.5038,W,1,03,00.5,012.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.76 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4074666.71, 591419.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215945.83,3648.8063,N,-12158.5032,W,1,03,00.5,011.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=87.87 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1340.00 : -19.00 : Estimated East Bias at time = 1340.00 : 5.00 : Estimated Depth Bias at time = 1340.00 : 0.22 : Estimated northing and easting = 4074647.71 : 591424.02 : AshtechGps::processRecord() - $GPGGA,215947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215946.83,3648.8061,N,-12158.5031,W,1,03,00.5,008.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215947.83,3648.8061,N,-12158.5028,W,1,03,00.5,009.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=88.52 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215948.83,3648.8061,N,-12158.5024,W,1,03,00.5,009.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=88.75 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215949.83,3648.8061,N,-12158.5022,W,1,03,00.5,008.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.66 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215950.83,3648.8062,N,-12158.5022,W,1,03,00.5,008.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215951.83,3648.8062,N,-12158.5023,W,1,03,00.5,007.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=88.22 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215952.83,3648.8062,N,-12158.5023,W,1,03,00.5,007.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=88.33 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,215954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215953.83,3648.8062,N,-12158.5024,W,1,03,00.5,007.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215954.83,3648.8063,N,-12158.5023,W,1,03,00.5,008.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=89.24 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074667.18, 591420.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,215956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215955.83,3648.8066,N,-12158.5021,W,1,03,00.5,008.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.45 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1350.00 : -19.00 : Estimated East Bias at time = 1350.00 : 5.00 : Estimated Depth Bias at time = 1350.00 : -0.39 : Estimated northing and easting = 4074648.18 : 591425.90 : AshtechGps::processRecord() - $GPGGA,215957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215956.83,3648.8068,N,-12158.5016,W,1,03,00.5,008.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.38 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,215957.83,3648.8070,N,-12158.5011,W,1,03,00.5,008.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215958.83,3648.8071,N,-12158.5005,W,1,03,00.5,008.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.08 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220000.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,215959.83,3648.8073,N,-12158.5000,W,1,03,00.5,008.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.10 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220001.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220000.83,3648.8075,N,-12158.4995,W,1,03,00.5,007.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220002.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220001.83,3648.8077,N,-12158.4989,W,1,03,00.5,007.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.22 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220003.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220002.83,3648.8080,N,-12158.4984,W,1,03,00.5,007.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.26 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220004.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220003.83,3648.8081,N,-12158.4978,W,1,03,00.5,007.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220005.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.29 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220004.83,3648.8083,N,-12158.4973,W,1,03,00.5,007.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4074670.89, 591428.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220006.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220005.83,3648.8085,N,-12158.4967,W,1,03,00.5,007.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.33 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1360.00 : -20.00 : Estimated East Bias at time = 1360.00 : 5.00 : Estimated Depth Bias at time = 1360.00 : -0.58 : Estimated northing and easting = 4074650.89 : 591433.68 : AshtechGps::processRecord() - $GPGGA,220007.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220006.83,3648.8087,N,-12158.4961,W,1,03,00.5,006.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.37 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220008.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220007.83,3648.8088,N,-12158.4955,W,1,03,00.5,006.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220009.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220008.83,3648.8090,N,-12158.4949,W,1,03,00.5,006.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.39 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220010.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220009.83,3648.8090,N,-12158.4943,W,1,03,00.5,006.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.19 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220011.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220010.83,3648.8091,N,-12158.4937,W,1,03,00.5,006.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.18 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220011.83,3648.8092,N,-12158.4931,W,1,03,00.5,005.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220013.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220012.83,3648.8092,N,-12158.4925,W,1,03,00.5,005.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=90.20 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220014.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220013.83,3648.8092,N,-12158.4919,W,1,03,00.5,005.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.24 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220015.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220014.83,3648.8091,N,-12158.4914,W,1,03,00.5,005.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 1369.996149 : TerrainNav update at dvl time = 1369.996149 : _navData-> (x,y) = (4074672.19, 591437.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220016.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220015.83,3648.8091,N,-12158.4908,W,1,03,00.5,005.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=90.19 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1370.00 : -19.00 : Estimated East Bias at time = 1370.00 : 5.00 : Estimated Depth Bias at time = 1370.00 : -0.68 : Estimated northing and easting = 4074653.19 : 591442.49 : AshtechGps::processRecord() - $GPGGA,220017.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220016.83,3648.8090,N,-12158.4902,W,1,03,00.5,005.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.30 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220018.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220017.83,3648.8090,N,-12158.4896,W,1,03,00.5,005.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220019.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.17 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220018.83,3648.8090,N,-12158.4890,W,1,03,00.5,004.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220020.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220019.83,3648.8089,N,-12158.4884,W,1,03,00.5,004.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=90.18 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220021.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220020.83,3648.8089,N,-12158.4877,W,1,03,00.5,004.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.18 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220022.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220021.83,3648.8089,N,-12158.4871,W,1,03,00.5,004.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220023.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220022.83,3648.8089,N,-12158.4865,W,1,03,00.5,004.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.23 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220024.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220023.83,3648.8089,N,-12158.4858,W,1,03,00.5,004.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=90.21 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220025.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220024.83,3648.8089,N,-12158.4852,W,1,03,00.5,004.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074671.91, 591446.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220026.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.07 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220025.83,3648.8089,N,-12158.4846,W,1,03,00.5,004.1,M,-99.9,M,,*49 : Estimated North Bias at time = 1380.00 : -19.00 : Estimated East Bias at time = 1380.00 : 6.00 : Estimated Depth Bias at time = 1380.00 : -0.63 : Estimated northing and easting = 4074652.91 : 591452.67 : AshtechGps::processRecord() - $GPGGA,220027.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220026.83,3648.8089,N,-12158.4840,W,1,03,00.5,004.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=90.12 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220028.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220027.83,3648.8090,N,-12158.4834,W,1,03,00.5,003.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.19 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220029.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220028.83,3648.8090,N,-12158.4827,W,1,03,00.5,003.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220030.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220029.83,3648.8090,N,-12158.4821,W,1,03,00.5,003.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.11 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220031.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220030.83,3648.8090,N,-12158.4814,W,1,03,00.5,003.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=90.08 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220032.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220031.83,3648.8090,N,-12158.4808,W,1,03,00.5,003.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220033.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.17 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220032.83,3648.8090,N,-12158.4801,W,1,03,00.5,003.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220034.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220033.83,3648.8090,N,-12158.4795,W,1,03,00.5,003.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=90.22 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220034.84,3648.8090,N,-12158.4788,W,1,03,00.5,003.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4074672.13, 591456.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=90.19 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220036.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1389.99 : -19.00 : Estimated East Bias at time = 1389.99 : 6.00 : Estimated Depth Bias at time = 1389.99 : -0.63 : Estimated northing and easting = 4074653.13 : 591462.22 : NMEA Update: $GPGGA,220035.84,3648.8090,N,-12158.4782,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220037.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220036.84,3648.8089,N,-12158.4775,W,1,03,00.5,003.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.17 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220038.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220037.84,3648.8089,N,-12158.4768,W,1,03,00.5,003.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.16 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220039.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220038.84,3648.8088,N,-12158.4762,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220040.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.13 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220039.84,3648.8088,N,-12158.4755,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220041.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220040.84,3648.8088,N,-12158.4751,W,1,03,00.5,002.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.14 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220042.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220041.84,3648.8087,N,-12158.4746,W,1,03,00.5,002.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=90.17 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220043.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220042.84,3648.8086,N,-12158.4742,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220044.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220043.84,3648.8085,N,-12158.4740,W,1,03,00.5,002.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=90.17 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220044.84,3648.8084,N,-12158.4733,W,1,03,00.5,002.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.21 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4074671.09, 591464.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220046.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1399.99 : -18.00 : Estimated East Bias at time = 1399.99 : 7.00 : Estimated Depth Bias at time = 1399.99 : -0.58 : Estimated northing and easting = 4074653.09 : 591471.44 : NMEA Update: $GPGGA,220045.84,3648.8083,N,-12158.4726,W,1,03,00.5,002.6,M,-99.9,M,,*4a : WaypointHoming has set the state to finished. : WaypointHoming (4074669.0, 591540.1), reached at t = 1448.20 (wplog) : Vehicle Position error is (-2.0, 74.9) : The distance to the waypoint is 74.9. : LayeredControl::execute() -- (t = 1448.200791) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 1448.20. : LayeredControl::execute() -- (t = 1448.210791) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1448.21 (wplog) The current location (N,E) = 4074671.0 , 591465.2 (wplog) The next waypoint = 4074563.1 , 591562.4 (wplog) The bearing to the next w.p. is 138.0 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1448.2 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1448.21 Seconds. : The vehicle position is (4074671.0, 591465.2) : LayeredControl::execute() -- (t = 1448.220790) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 100 photo sequence. : AshtechGps::processRecord() - $GPGGA,220047.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.20 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220048.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.21 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220048.44,3648.8081,N,-12158.4708,W,1,03,00.5,002.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220049.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220049.44,3648.8080,N,-12158.4702,W,1,03,00.5,002.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=90.29 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220050.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220050.44,3648.8080,N,-12158.4695,W,1,03,00.5,002.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.20 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220051.44,3648.8079,N,-12158.4688,W,1,03,00.5,002.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.23 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220052.44,3648.8079,N,-12158.4682,W,1,03,00.5,002.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220053.44,3648.8079,N,-12158.4675,W,1,03,00.5,002.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.08 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220054.44,3648.8078,N,-12158.4668,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.10 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220055.44,3648.8078,N,-12158.4662,W,1,03,00.5,002.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074670.19, 591474.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1409.99 : -18.00 : Estimated East Bias at time = 1409.99 : 7.00 : Estimated Depth Bias at time = 1409.99 : -0.58 : Estimated northing and easting = 4074652.19 : 591481.45 : NMEA Update: $GPGGA,220056.44,3648.8078,N,-12158.4655,W,1,03,00.5,002.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=90.07 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220057.44,3648.8078,N,-12158.4649,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.09 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220058.44,3648.8078,N,-12158.4642,W,1,03,00.5,002.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.06 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220059.44,3648.8077,N,-12158.4635,W,1,03,00.5,002.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220100.44,3648.8077,N,-12158.4629,W,1,03,00.5,002.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220101.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.15 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220101.44,3648.8077,N,-12158.4622,W,1,03,00.5,002.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220102.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.20 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220102.44,3648.8077,N,-12158.4615,W,1,03,00.5,002.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220103.44,3648.8077,N,-12158.4607,W,1,03,00.5,002.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=90.14 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220104.44,3648.8076,N,-12158.4600,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.19 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220105.44,3648.8076,N,-12158.4593,W,1,03,00.5,002.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : _navData-> (x,y) = (4074669.95, 591484.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1420.00 : -18.00 : Estimated East Bias at time = 1420.00 : 7.00 : Estimated Depth Bias at time = 1420.00 : -0.58 : Estimated northing and easting = 4074651.95 : 591491.60 : LayeredControl _resolvedCommand - vertMode=2 vert=90.09 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220106.44,3648.8076,N,-12158.4587,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220107.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220107.44,3648.8075,N,-12158.4580,W,1,03,00.5,002.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220108.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.06 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220108.44,3648.8075,N,-12158.4573,W,1,03,00.5,002.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.05 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220109.44,3648.8074,N,-12158.4566,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220110.44,3648.8073,N,-12158.4559,W,1,03,00.5,002.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=90.04 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220111.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220111.44,3648.8073,N,-12158.4553,W,1,03,00.5,002.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.06 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220112.44,3648.8072,N,-12158.4546,W,1,03,00.5,002.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.15 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220113.44,3648.8071,N,-12158.4539,W,1,03,00.5,002.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220114.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220114.44,3648.8070,N,-12158.4532,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220115.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.15 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220115.44,3648.8069,N,-12158.4525,W,1,03,00.5,002.2,M,-99.9,M,,*43 : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4074668.75, 591494.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1430.00 : -18.00 : Estimated East Bias at time = 1430.00 : 7.00 : Estimated Depth Bias at time = 1430.00 : -0.58 : Estimated northing and easting = 4074650.75 : 591501.80 : LayeredControl _resolvedCommand - vertMode=2 vert=90.15 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220116.44,3648.8068,N,-12158.4518,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220117.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220117.44,3648.8068,N,-12158.4511,W,1,03,00.5,002.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=90.13 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220118.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220118.44,3648.8067,N,-12158.4504,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.08 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220119.44,3648.8067,N,-12158.4498,W,1,03,00.5,002.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220120.43,3648.8066,N,-12158.4491,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220121.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220121.43,3648.8065,N,-12158.4484,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.98 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220122.43,3648.8065,N,-12158.4478,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.91 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220123.43,3648.8064,N,-12158.4472,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220124.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220124.43,3648.8064,N,-12158.4465,W,1,03,00.5,002.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=89.94 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220125.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220125.43,3648.8064,N,-12158.4458,W,1,03,00.5,002.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074667.85, 591504.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1440.00 : -18.00 : Estimated East Bias at time = 1440.00 : 7.00 : Estimated Depth Bias at time = 1440.00 : -0.58 : Estimated northing and easting = 4074649.85 : 591511.82 : LayeredControl _resolvedCommand - vertMode=2 vert=89.96 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220126.43,3648.8063,N,-12158.4450,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220127.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220127.43,3648.8063,N,-12158.4443,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220128.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220128.43,3648.8062,N,-12158.4436,W,1,03,00.5,002.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220129.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220129.43,3648.8062,N,-12158.4428,W,1,03,00.5,002.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220130.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.99 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220130.43,3648.8061,N,-12158.4421,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220131.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220131.43,3648.8061,N,-12158.4414,W,1,03,00.5,002.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=90.02 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220132.43,3648.8061,N,-12158.4407,W,1,03,00.5,002.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.97 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220133.43,3648.8062,N,-12158.4400,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.88 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220134.43,3648.8061,N,-12158.4393,W,1,03,00.5,002.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220135.43,3648.8061,N,-12158.4386,W,1,03,00.5,002.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 1450.000668 : TerrainNav update at dvl time = 1450.000668 : _navData-> (x,y) = (4074667.51, 591515.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.86 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1450.00 : -18.00 : Estimated East Bias at time = 1450.00 : 7.00 : Estimated Depth Bias at time = 1450.00 : -0.58 : Estimated northing and easting = 4074649.51 : 591522.50 : NMEA Update: $GPGGA,220136.43,3648.8061,N,-12158.4379,W,1,03,00.5,002.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.91 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220137.43,3648.8061,N,-12158.4372,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220138.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220138.43,3648.8061,N,-12158.4365,W,1,03,00.5,002.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=89.85 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220139.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220139.43,3648.8061,N,-12158.4358,W,1,03,00.5,002.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220140.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.85 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220140.43,3648.8061,N,-12158.4351,W,1,03,00.5,002.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220141.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.91 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220141.43,3648.8061,N,-12158.4343,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220142.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220142.43,3648.8060,N,-12158.4336,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.93 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220143.43,3648.8060,N,-12158.4329,W,1,03,00.5,002.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220144.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.90 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220144.43,3648.8061,N,-12158.4321,W,1,03,00.5,002.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220145.43,3648.8061,N,-12158.4314,W,1,03,00.5,002.5,M,-99.9,M,,*4a : TerrainNav update at nav time = 1459.999983 : TerrainNav update at dvl time = 1459.999983 : _navData-> (x,y) = (4074667.56, 591526.18) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=89.88 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220146.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1460.00 : -18.00 : Estimated East Bias at time = 1460.00 : 7.00 : Estimated Depth Bias at time = 1460.00 : -0.58 : Estimated northing and easting = 4074649.56 : 591533.18 : NMEA Update: $GPGGA,220146.43,3648.8061,N,-12158.4307,W,1,03,00.5,002.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220147.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.84 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220147.43,3648.8061,N,-12158.4300,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220148.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220148.43,3648.8062,N,-12158.4293,W,1,03,00.5,002.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220149.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220149.43,3648.8062,N,-12158.4286,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220150.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220150.43,3648.8061,N,-12158.4280,W,1,03,00.5,002.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220151.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220151.43,3648.8061,N,-12158.4273,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220152.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220152.43,3648.8061,N,-12158.4266,W,1,03,00.5,002.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=89.78 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220153.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220153.43,3648.8061,N,-12158.4259,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220154.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220154.43,3648.8061,N,-12158.4252,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220155.43,3648.8061,N,-12158.4244,W,1,03,00.5,002.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4074667.66, 591536.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1470.00 : -18.00 : Estimated East Bias at time = 1470.00 : 7.00 : Estimated Depth Bias at time = 1470.00 : -0.58 : Estimated northing and easting = 4074649.66 : 591543.56 : NMEA Update: $GPGGA,220156.43,3648.8061,N,-12158.4237,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.75 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220157.43,3648.8060,N,-12158.4230,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220158.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1519.80 Seconds. : The vehicle position is is (4074667.6, 591539.1) : LayeredControl _resolvedCommand - vertMode=2 vert=89.75 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220158.43,3648.8060,N,-12158.4223,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220159.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220159.43,3648.8060,N,-12158.4216,W,1,03,00.5,002.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=89.73 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220200.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220200.43,3648.8061,N,-12158.4209,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220201.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.71 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220201.43,3648.8061,N,-12158.4202,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.67 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220202.43,3648.8061,N,-12158.4195,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220203.43,3648.8061,N,-12158.4188,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.68 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220204.43,3648.8061,N,-12158.4181,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.71 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220205.43,3648.8062,N,-12158.4174,W,1,03,00.5,002.8,M,-99.9,M,,*47 : TerrainNav update at nav time = 1479.998613 : TerrainNav update at dvl time = 1479.998613 : _navData-> (x,y) = (4074667.96, 591546.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1480.00 : -18.00 : Estimated East Bias at time = 1480.00 : 7.00 : Estimated Depth Bias at time = 1480.00 : -0.58 : Estimated northing and easting = 4074649.96 : 591553.98 : NMEA Update: $GPGGA,220206.43,3648.8062,N,-12158.4167,W,1,03,00.5,002.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=89.64 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220207.43,3648.8062,N,-12158.4160,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220208.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.68 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220208.43,3648.8063,N,-12158.4153,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.63 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220209.43,3648.8063,N,-12158.4146,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220210.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220210.43,3648.8063,N,-12158.4138,W,1,03,00.5,002.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220211.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.67 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220211.43,3648.8064,N,-12158.4131,W,1,03,00.5,002.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220212.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.77 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220212.43,3648.8064,N,-12158.4125,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220213.43,3648.8064,N,-12158.4117,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=89.73 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220214.43,3648.8064,N,-12158.4110,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.75 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220215.43,3648.8064,N,-12158.4103,W,1,03,00.5,003.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 1489.997928 : TerrainNav update at dvl time = 1489.997928 : _navData-> (x,y) = (4074668.51, 591557.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1490.00 : -18.00 : Estimated East Bias at time = 1490.00 : 7.00 : Estimated Depth Bias at time = 1490.00 : -0.58 : Estimated northing and easting = 4074650.51 : 591564.46 : LayeredControl _resolvedCommand - vertMode=2 vert=89.69 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220216.43,3648.8064,N,-12158.4097,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220217.43,3648.8065,N,-12158.4089,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220218.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.67 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220218.43,3648.8065,N,-12158.4082,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220219.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.73 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220219.43,3648.8063,N,-12158.4076,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220220.43,3648.8063,N,-12158.4070,W,1,03,00.5,003.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=89.74 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220221.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220221.43,3648.8063,N,-12158.4063,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220222.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.64 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220222.43,3648.8063,N,-12158.4056,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.53 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220223.43,3648.8063,N,-12158.4049,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220224.43,3648.8063,N,-12158.4041,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.61 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220225.43,3648.8064,N,-12158.4034,W,1,03,00.5,003.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4074668.49, 591567.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1500.00 : -18.00 : Estimated East Bias at time = 1500.00 : 7.00 : Estimated Depth Bias at time = 1500.00 : -0.58 : Estimated northing and easting = 4074650.49 : 591574.75 : LayeredControl _resolvedCommand - vertMode=2 vert=89.62 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220226.43,3648.8064,N,-12158.4027,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220227.43,3648.8064,N,-12158.4020,W,1,03,00.5,003.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=89.60 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220228.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220228.43,3648.8064,N,-12158.4013,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220229.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.66 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220229.43,3648.8064,N,-12158.4006,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220230.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.64 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220230.43,3648.8064,N,-12158.3999,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220231.43,3648.8064,N,-12158.3991,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.65 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220232.43,3648.8064,N,-12158.3984,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.62 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220233.43,3648.8064,N,-12158.3977,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220234.43,3648.8064,N,-12158.3970,W,1,03,00.5,003.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=89.57 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220235.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220235.43,3648.8064,N,-12158.3963,W,1,03,00.5,003.0,M,-99.9,M,,*42 : TerrainNav update at nav time = 1509.996558 : TerrainNav update at dvl time = 1509.996558 : _navData-> (x,y) = (4074668.71, 591578.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1510.00 : -18.00 : Estimated East Bias at time = 1510.00 : 7.00 : Estimated Depth Bias at time = 1510.00 : -0.58 : Estimated northing and easting = 4074650.71 : 591585.36 : LayeredControl _resolvedCommand - vertMode=2 vert=89.48 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220236.43,3648.8064,N,-12158.3956,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.42 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220237.43,3648.8064,N,-12158.3949,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220238.43,3648.8064,N,-12158.3942,W,1,03,00.5,002.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220239.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.28 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220239.43,3648.8064,N,-12158.3935,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.29 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220240.43,3648.8063,N,-12158.3929,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220241.43,3648.8063,N,-12158.3924,W,1,03,00.5,002.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=89.23 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220242.43,3648.8063,N,-12158.3918,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.16 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220243.43,3648.8062,N,-12158.3911,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.22 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220244.43,3648.8062,N,-12158.3904,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220245.43,3648.8062,N,-12158.3897,W,1,03,00.5,002.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 1519.995873 : TerrainNav update at dvl time = 1519.995873 : _navData-> (x,y) = (4074668.44, 591588.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220246.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.23 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : Estimated North Bias at time = 1520.00 : -18.00 : Estimated East Bias at time = 1520.00 : 7.00 : Estimated Depth Bias at time = 1520.00 : -0.58 : Estimated northing and easting = 4074650.44 : 591595.11 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220246.43,3648.8062,N,-12158.3890,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.21 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220247.43,3648.8062,N,-12158.3883,W,1,03,00.5,002.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220248.43,3648.8062,N,-12158.3876,W,1,03,00.5,002.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=89.14 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220249.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220249.43,3648.8062,N,-12158.3868,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.11 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220250.43,3648.8061,N,-12158.3861,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.00 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220251.43,3648.8061,N,-12158.3854,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220252.43,3648.8061,N,-12158.3847,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.95 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220253.43,3648.8061,N,-12158.3841,W,1,03,00.5,002.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.87 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220254.43,3648.8060,N,-12158.3834,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220255.43,3648.8060,N,-12158.3827,W,1,03,00.5,002.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4074668.17, 591598.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=88.81 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220256.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1530.00 : -18.00 : Estimated East Bias at time = 1530.00 : 7.00 : Estimated Depth Bias at time = 1530.00 : -0.58 : Estimated northing and easting = 4074650.17 : 591605.60 : NMEA Update: $GPGGA,220256.43,3648.8060,N,-12158.3820,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.82 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220257.43,3648.8059,N,-12158.3813,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.82 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220258.43,3648.8059,N,-12158.3807,W,1,03,00.5,002.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220259.43,3648.8059,N,-12158.3800,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220300.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.83 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220300.43,3648.8059,N,-12158.3793,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.79 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220301.24,3648.8059,N,-12158.3787,W,1,03,00.5,002.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220302.24,3648.8059,N,-12158.3779,W,1,03,00.5,002.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=88.83 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220303.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220303.24,3648.8059,N,-12158.3772,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.76 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220304.24,3648.8059,N,-12158.3765,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220305.24,3648.8059,N,-12158.3758,W,1,03,00.5,002.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=88.72 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1539.994503 : TerrainNav update at dvl time = 1539.994503 : _navData-> (x,y) = (4074668.04, 591609.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1539.99 : -18.00 : Estimated East Bias at time = 1539.99 : 7.00 : Estimated Depth Bias at time = 1539.99 : -0.58 : Estimated northing and easting = 4074650.04 : 591616.12 : NMEA Update: $GPGGA,220306.24,3648.8059,N,-12158.3750,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.64 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220307.24,3648.8059,N,-12158.3743,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.53 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,220308.24,3648.8059,N,-12158.3736,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220309.24,3648.8059,N,-12158.3730,W,1,03,00.5,002.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=88.40 horzlMode=3 horz=1.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,220310.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4074668.2, 591538.8), reached at t = 1592.00 (wplog) : Vehicle Position error is (0.1, -75.0) : The distance to the waypoint is -75.0. : LayeredControl::execute() -- (t = 1592.000940) Behavior waypoint_homing:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1592.010940) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,220310.24,3648.8059,N,-12158.3723,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220311.00,,,,,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,220311.24,3648.8059,N,-12158.3716,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220312.24,3648.8059,N,-12158.3710,W,1,03,00.5,002.7,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,220313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220313.24,3648.8059,N,-12158.3702,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220314.00,,,,,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,220314.24,3648.8059,N,-12158.3695,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220315.00,,,,,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,220315.24,3648.8059,N,-12158.3688,W,1,03,00.5,002.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 1549.993818 : TerrainNav update at dvl time = 1549.993818 : _navData-> (x,y) = (4074668.31, 591619.52) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1549.99 : -18.00 : Estimated East Bias at time = 1549.99 : 7.00 : Estimated Depth Bias at time = 1549.99 : -0.58 : Estimated northing and easting = 4074650.31 : 591626.52 : NMEA Update: $GPGGA,220316.24,3648.8060,N,-12158.3680,W,1,03,00.5,003.0,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,220317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220317.24,3648.8062,N,-12158.3671,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220318.00,,,,,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,220318.24,3648.8063,N,-12158.3663,W,1,03,00.5,003.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220319.24,3648.8066,N,-12158.3655,W,1,03,00.5,003.6,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,220320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220320.24,3648.8068,N,-12158.3648,W,1,03,00.5,003.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220321.00,,,,,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,220321.24,3648.8072,N,-12158.3640,W,1,03,00.5,004.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220322.00,,,,,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,220322.24,3648.8075,N,-12158.3633,W,1,03,00.5,004.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220323.24,3648.8080,N,-12158.3627,W,1,03,00.5,005.2,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,220324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220324.24,3648.8084,N,-12158.3620,W,1,03,00.5,005.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220325.00,,,,,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,220325.24,3648.8089,N,-12158.3615,W,1,03,00.5,006.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1560.003132 : TerrainNav update at dvl time = 1560.003132 : _navData-> (x,y) = (4074674.14, 591630.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220326.24,3648.8095,N,-12158.3610,W,1,03,00.5,006.8,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,220327.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1560.00 : -17.00 : Estimated East Bias at time = 1560.00 : 8.00 : Estimated Depth Bias at time = 1560.00 : -0.49 : Estimated northing and easting = 4074657.14 : 591638.18 : NMEA Update: $GPGGA,220327.24,3648.8100,N,-12158.3606,W,1,03,00.5,007.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220328.00,,,,,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,220328.24,3648.8106,N,-12158.3603,W,1,03,00.5,007.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220329.00,,,,,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,220329.24,3648.8112,N,-12158.3601,W,1,03,00.5,008.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220330.24,3648.8118,N,-12158.3599,W,1,03,00.5,008.6,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,220331.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220331.24,3648.8125,N,-12158.3599,W,1,03,00.5,009.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220332.00,,,,,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,220332.24,3648.8131,N,-12158.3599,W,1,03,00.5,009.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220333.24,3648.8137,N,-12158.3600,W,1,03,00.5,009.8,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,220334.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220334.24,3648.8142,N,-12158.3602,W,1,03,00.5,010.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220335.00,,,,,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,220335.24,3648.8148,N,-12158.3605,W,1,03,00.5,010.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1570.002447 : TerrainNav update at dvl time = 1570.002447 : _navData-> (x,y) = (4074684.97, 591631.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220336.00,,,,,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,220336.24,3648.8153,N,-12158.3608,W,1,03,00.5,011.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220337.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1570.00 : -18.00 : Estimated East Bias at time = 1570.00 : 8.00 : Estimated Depth Bias at time = 1570.00 : -0.29 : Estimated northing and easting = 4074666.97 : 591639.32 : NMEA Update: $GPGGA,220337.24,3648.8158,N,-12158.3613,W,1,03,00.5,011.6,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,220338.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220338.24,3648.8161,N,-12158.3617,W,1,03,00.5,012.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220339.00,,,,,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,220339.24,3648.8165,N,-12158.3623,W,1,03,00.5,012.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220340.24,3648.8167,N,-12158.3629,W,1,03,00.5,013.1,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,220341.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220341.24,3648.8169,N,-12158.3635,W,1,03,00.5,013.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220342.00,,,,,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,220342.24,3648.8169,N,-12158.3642,W,1,03,00.5,013.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220343.00,,,,,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,220343.24,3648.8169,N,-12158.3648,W,1,03,00.5,014.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220344.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220344.24,3648.8168,N,-12158.3655,W,1,03,00.5,014.8,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,220345.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220345.24,3648.8167,N,-12158.3661,W,1,03,00.5,015.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 1580.001762 : TerrainNav update at dvl time = 1580.001762 : _navData-> (x,y) = (4074688.05, 591622.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220346.00,,,,,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,220346.23,3648.8164,N,-12158.3667,W,1,03,00.5,015.6,M,-99.9,M,,*4a : Estimated North Bias at time = 1580.00 : -17.00 : Estimated East Bias at time = 1580.00 : 9.00 : Estimated Depth Bias at time = 1580.00 : -0.25 : Estimated northing and easting = 4074671.05 : 591631.85 : AshtechGps::processRecord() - $GPGGA,220347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220347.23,3648.8161,N,-12158.3673,W,1,03,00.5,016.1,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,220348.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220348.23,3648.8157,N,-12158.3677,W,1,03,00.5,016.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220349.00,,,,,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,220349.23,3648.8153,N,-12158.3682,W,1,03,00.5,016.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220350.00,,,,,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,220350.23,3648.8149,N,-12158.3685,W,1,03,00.5,017.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220351.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220351.23,3648.8143,N,-12158.3688,W,1,03,00.5,017.7,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,220352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220352.23,3648.8138,N,-12158.3690,W,1,03,00.5,018.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220353.00,,,,,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,220353.23,3648.8132,N,-12158.3691,W,1,03,00.5,018.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220354.23,3648.8126,N,-12158.3691,W,1,03,00.5,018.7,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,220355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220355.23,3648.8121,N,-12158.3691,W,1,03,00.5,019.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 1590.001077 : TerrainNav update at dvl time = 1590.001077 : _navData-> (x,y) = (4074679.35, 591618.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220356.00,,,,,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,220356.23,3648.8115,N,-12158.3689,W,1,03,00.5,019.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1590.00 : -18.00 : Estimated East Bias at time = 1590.00 : 10.00 : Estimated Depth Bias at time = 1590.00 : -0.26 : Estimated northing and easting = 4074661.35 : 591628.75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,220357.23,3648.8109,N,-12158.3687,W,1,03,00.5,019.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220358.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220358.23,3648.8103,N,-12158.3684,W,1,03,00.5,020.3,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,220359.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220359.23,3648.8098,N,-12158.3680,W,1,03,00.5,020.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220400.00,,,,,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,220400.23,3648.8093,N,-12158.3675,W,1,03,00.5,021.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220401.23,3648.8089,N,-12158.3669,W,1,03,00.5,021.5,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,220402.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220402.23,3648.8085,N,-12158.3663,W,1,03,00.5,021.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220403.00,,,,,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,220403.23,3648.8082,N,-12158.3656,W,1,03,00.5,022.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220404.00,,,,,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,220404.23,3648.8079,N,-12158.3648,W,1,03,00.5,022.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220405.23,3648.8078,N,-12158.3641,W,1,03,00.5,023.1,M,-99.9,M,,*40 : TerrainNav update at nav time = 1600.000392 : TerrainNav update at dvl time = 1600.000392 : _navData-> (x,y) = (4074671.69, 591626.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,220406.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220406.23,3648.8077,N,-12158.3632,W,1,03,00.5,023.5,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1600.00 : -17.00 : Estimated East Bias at time = 1600.00 : 9.00 : Estimated Depth Bias at time = 1600.00 : -0.34 : AshtechGps::processRecord() - $GPGGA,220407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4074654.69 : 591635.50 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,220407.23,3648.8077,N,-12158.3624,W,1,03,00.5,023.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220408.23,3648.8077,N,-12158.3616,W,1,03,00.5,024.2,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,220409.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220409.23,3648.8078,N,-12158.3608,W,1,03,00.5,024.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220410.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220410.23,3648.8080,N,-12158.3601,W,1,03,00.5,024.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220411.00,,,,,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,220411.23,3648.8082,N,-12158.3598,W,1,03,00.5,025.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220412.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220412.23,3648.8085,N,-12158.3592,W,1,03,00.5,026.1,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,220413.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220413.23,3648.8089,N,-12158.3586,W,1,03,00.5,026.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220414.00,,,,,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,220414.23,3648.8093,N,-12158.3582,W,1,03,00.5,026.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220415.23,3648.8098,N,-12158.3577,W,1,03,00.5,027.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1609.999707 : TerrainNav update at dvl time = 1609.999707 : _navData-> (x,y) = (4074675.70, 591635.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220416.23,3648.8103,N,-12158.3574,W,1,03,00.5,027.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220417.00,,,,,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 : Estimated North Bias at time = 1610.00 : -17.00 : Estimated East Bias at time = 1610.00 : 9.00 : Estimated Depth Bias at time = 1610.00 : -0.45 : Estimated northing and easting = 4074658.70 : 591644.73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220417.23,3648.8108,N,-12158.3571,W,1,03,00.5,028.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220418.00,,,,,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,220418.23,3648.8114,N,-12158.3569,W,1,03,00.5,029.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220419.23,3648.8120,N,-12158.3568,W,1,03,00.5,029.3,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,220420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220420.23,3648.8126,N,-12158.3568,W,1,03,00.5,029.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220421.00,,,,,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,220421.23,3648.8131,N,-12158.3569,W,1,03,00.5,030.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220422.23,3648.8137,N,-12158.3571,W,1,03,00.5,030.8,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,220423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220423.23,3648.8142,N,-12158.3573,W,1,03,00.5,030.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220424.00,,,,,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,220424.23,3648.8146,N,-12158.3576,W,1,03,00.5,031.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220425.00,,,,,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,220425.23,3648.8151,N,-12158.3580,W,1,03,00.5,031.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4074685.43, 591634.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220426.23,3648.8154,N,-12158.3585,W,1,03,00.5,032.2,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,220427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1620.00 : -17.00 : Estimated East Bias at time = 1620.00 : 9.00 : Estimated Depth Bias at time = 1620.00 : -0.53 : Estimated northing and easting = 4074668.43 : 591643.90 : NMEA Update: $GPGGA,220427.23,3648.8157,N,-12158.3591,W,1,03,00.5,032.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220428.00,,,,,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,220428.23,3648.8159,N,-12158.3597,W,1,03,00.5,033.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220429.23,3648.8161,N,-12158.3604,W,1,03,00.5,033.3,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,220430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220430.23,3648.8162,N,-12158.3610,W,1,03,00.5,033.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220431.00,,,,,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,220431.23,3648.8162,N,-12158.3617,W,1,03,00.5,034.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220432.00,,,,,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,220432.23,3648.8162,N,-12158.3623,W,1,03,00.5,035.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220433.23,3648.8161,N,-12158.3630,W,1,03,00.5,035.2,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,220434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220434.23,3648.8160,N,-12158.3635,W,1,03,00.5,035.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220435.00,,,,,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,220435.23,3648.8158,N,-12158.3641,W,1,03,00.5,036.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 1629.998338 : TerrainNav update at dvl time = 1629.998338 : _navData-> (x,y) = (4074686.41, 591625.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220436.23,3648.8155,N,-12158.3646,W,1,03,00.5,036.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1630.00 : -17.00 : Estimated East Bias at time = 1630.00 : 10.00 : Estimated Depth Bias at time = 1630.00 : -0.70 : Estimated northing and easting = 4074669.41 : 591635.91 : AshtechGps::processRecord() - $GPGGA,220437.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220437.23,3648.8151,N,-12158.3650,W,1,03,00.5,037.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220438.00,,,,,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,220438.23,3648.8147,N,-12158.3654,W,1,03,00.5,037.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220439.00,,,,,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,220439.23,3648.8142,N,-12158.3657,W,1,03,00.5,037.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220440.23,3648.8137,N,-12158.3660,W,1,03,00.5,037.8,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,220441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220441.23,3648.8132,N,-12158.3662,W,1,03,00.5,038.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220442.00,,,,,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,220442.23,3648.8126,N,-12158.3663,W,1,03,00.5,038.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220443.23,3648.8120,N,-12158.3664,W,1,03,00.5,039.1,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,220444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220444.23,3648.8115,N,-12158.3664,W,1,03,00.5,039.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220445.00,,,,,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,220445.23,3648.8109,N,-12158.3662,W,1,03,00.5,039.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 1639.997653 : TerrainNav update at dvl time = 1639.997653 : _navData-> (x,y) = (4074677.31, 591623.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220446.00,,,,,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,220446.23,3648.8104,N,-12158.3659,W,1,03,00.5,040.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220447.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1640.00 : -17.00 : Estimated East Bias at time = 1640.00 : 10.00 : Estimated Depth Bias at time = 1640.00 : -0.75 : Estimated northing and easting = 4074660.31 : 591633.06 : NMEA Update: $GPGGA,220447.23,3648.8099,N,-12158.3656,W,1,03,00.5,040.9,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,220448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220448.23,3648.8094,N,-12158.3651,W,1,03,00.5,041.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220449.00,,,,,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,220449.23,3648.8090,N,-12158.3645,W,1,03,00.5,041.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220450.23,3648.8086,N,-12158.3639,W,1,03,00.5,041.9,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,220451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220451.23,3648.8083,N,-12158.3632,W,1,03,00.5,042.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220452.00,,,,,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,220452.23,3648.8081,N,-12158.3625,W,1,03,00.5,042.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220453.00,,,,,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,220453.23,3648.8080,N,-12158.3618,W,1,03,00.5,043.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220454.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220454.23,3648.8080,N,-12158.3610,W,1,03,00.5,043.7,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,220455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220455.23,3648.8080,N,-12158.3602,W,1,03,00.5,043.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 1649.996967 : TerrainNav update at dvl time = 1649.996967 : _navData-> (x,y) = (4074672.23, 591632.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220456.00,,,,,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,220456.23,3648.8081,N,-12158.3595,W,1,03,00.5,044.0,M,-99.9,M,,*4a : Estimated North Bias at time = 1650.00 : -17.00 : Estimated East Bias at time = 1650.00 : 9.00 : AshtechGps::processRecord() - $GPGGA,220457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1650.00 : -0.90 : Estimated northing and easting = 4074655.23 : 591641.19 : NMEA Update: $GPGGA,220457.23,3648.8083,N,-12158.3587,W,1,03,00.5,044.1,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,220458.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220458.23,3648.8085,N,-12158.3580,W,1,03,00.5,045.3,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,220459.00,,,,,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,220459.23,3648.8088,N,-12158.3574,W,1,03,00.5,045.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220500.00,,,,,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,220500.23,3648.8091,N,-12158.3568,W,1,03,00.5,045.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220501.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220501.23,3648.8096,N,-12158.3563,W,1,03,00.5,046.6,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,220502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220502.23,3648.8100,N,-12158.3559,W,1,03,00.5,047.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220503.00,,,,,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,220503.23,3648.8105,N,-12158.3555,W,1,03,00.5,047.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220504.23,3648.8111,N,-12158.3553,W,1,03,00.5,048.1,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,220505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220505.23,3648.8117,N,-12158.3551,W,1,03,00.5,048.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 1659.996282 : TerrainNav update at dvl time = 1659.996282 : _navData-> (x,y) = (4074679.41, 591639.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220506.00,,,,,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,220506.23,3648.8123,N,-12158.3550,W,1,03,00.5,048.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1660.00 : -17.00 : Estimated East Bias at time = 1660.00 : 10.00 : Estimated Depth Bias at time = 1660.00 : -1.04 : Estimated northing and easting = 4074662.41 : 591649.51 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,220507.23,3648.8130,N,-12158.3550,W,1,03,00.5,049.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220508.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220508.23,3648.8136,N,-12158.3551,W,1,03,00.5,049.9,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,220509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220509.23,3648.8142,N,-12158.3553,W,1,03,00.5,050.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220510.00,,,,,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,220510.23,3648.8148,N,-12158.3556,W,1,03,00.5,050.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220511.23,3648.8153,N,-12158.3560,W,1,03,00.5,051.0,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,220512.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220512.23,3648.8158,N,-12158.3565,W,1,03,00.5,051.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220513.00,,,,,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,220513.23,3648.8162,N,-12158.3571,W,1,03,00.5,051.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,220514.23,3648.8165,N,-12158.3577,W,1,03,00.5,052.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220515.23,3648.8168,N,-12158.3583,W,1,03,00.5,052.7,M,-99.9,M,,*4d : TerrainNav update at nav time = 1669.995597 : TerrainNav update at dvl time = 1669.995597 : _navData-> (x,y) = (4074688.51, 591634.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,220516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220516.23,3648.8169,N,-12158.3590,W,1,03,00.5,053.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220517.00,,,,,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 : Estimated North Bias at time = 1670.00 : -17.00 : Estimated East Bias at time = 1670.00 : 10.00 : Estimated Depth Bias at time = 1670.00 : -1.29 : Estimated northing and easting = 4074671.51 : 591644.40 : NMEA Update: $GPGGA,220517.23,3648.8170,N,-12158.3597,W,1,03,00.5,053.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220518.23,3648.8171,N,-12158.3604,W,1,03,00.5,054.6,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,220519.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220519.23,3648.8170,N,-12158.3611,W,1,03,00.5,054.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220520.00,,,,,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,220520.23,3648.8169,N,-12158.3618,W,1,03,00.5,055.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220521.00,,,,,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,220521.23,3648.8167,N,-12158.3625,W,1,03,00.5,055.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220522.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220522.23,3648.8165,N,-12158.3632,W,1,03,00.5,056.6,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,220523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220523.23,3648.8162,N,-12158.3638,W,1,03,00.5,057.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220524.00,,,,,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,220524.23,3648.8158,N,-12158.3643,W,1,03,00.5,056.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220525.23,3648.8153,N,-12158.3647,W,1,03,00.5,058.4,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 = 1679.994912 : TerrainNav update at dvl time = 1679.994912 : _navData-> (x,y) = (4074685.48, 591625.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220526.23,3648.8148,N,-12158.3650,W,1,03,00.5,058.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1679.99 : -17.00 : Estimated East Bias at time = 1679.99 : 9.00 : Estimated Depth Bias at time = 1679.99 : -1.31 : Estimated northing and easting = 4074668.48 : 591634.11 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,220527.04,3648.8143,N,-12158.3651,W,1,03,00.5,057.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220528.04,3648.8137,N,-12158.3654,W,1,03,00.5,057.5,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,220529.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220529.04,3648.8131,N,-12158.3655,W,1,03,00.5,058.4,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,220530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220530.04,3648.8125,N,-12158.3656,W,1,03,00.5,057.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220531.00,,,,,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,220531.04,3648.8120,N,-12158.3656,W,1,03,00.5,058.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220532.04,3648.8114,N,-12158.3655,W,1,03,00.5,059.4,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,220533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220533.04,3648.8108,N,-12158.3652,W,1,03,00.5,059.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220534.00,,,,,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,220534.04,3648.8102,N,-12158.3649,W,1,03,00.5,060.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220535.04,3648.8097,N,-12158.3645,W,1,03,00.5,061.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1689.994227 : TerrainNav update at dvl time = 1689.994227 : _navData-> (x,y) = (4074674.91, 591625.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220536.04,3648.8092,N,-12158.3639,W,1,03,00.5,061.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1689.99 : -17.00 : Estimated East Bias at time = 1689.99 : 9.00 : Estimated Depth Bias at time = 1689.99 : -1.20 : Estimated northing and easting = 4074657.91 : 591634.94 : AshtechGps::processRecord() - $GPGGA,220537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220537.04,3648.8087,N,-12158.3633,W,1,03,00.5,061.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220538.00,,,,,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,220538.04,3648.8084,N,-12158.3627,W,1,03,00.5,061.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220539.04,3648.8081,N,-12158.3620,W,1,03,00.5,062.2,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,220540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220540.04,3648.8078,N,-12158.3613,W,1,03,00.5,062.3,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,220541.00,,,,,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,220541.04,3648.8077,N,-12158.3606,W,1,03,00.5,062.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220542.04,3648.8077,N,-12158.3599,W,1,03,00.5,063.8,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,220543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220543.04,3648.8077,N,-12158.3592,W,1,03,00.5,063.7,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,220544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220544.04,3648.8078,N,-12158.3584,W,1,03,00.5,065.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,220545.00,,,,,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,220545.04,3648.8080,N,-12158.3577,W,1,03,00.5,066.0,M,-99.9,M,,*41 : TerrainNav update at nav time = 1699.993542 : TerrainNav update at dvl time = 1699.993542 : _navData-> (x,y) = (4074672.34, 591636.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220546.04,3648.8082,N,-12158.3571,W,1,03,00.5,065.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1699.99 : -17.00 : Estimated East Bias at time = 1699.99 : 9.00 : Estimated Depth Bias at time = 1699.99 : -1.04 : Estimated northing and easting = 4074655.34 : 591645.06 : AshtechGps::processRecord() - $GPGGA,220547.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220547.04,3648.8085,N,-12158.3565,W,1,03,00.5,066.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220548.00,,,,,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,220548.04,3648.8089,N,-12158.3560,W,1,03,00.5,066.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220549.04,3648.8093,N,-12158.3555,W,1,03,00.5,067.4,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,220550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220550.04,3648.8097,N,-12158.3550,W,1,03,00.5,067.2,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,220551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220551.04,3648.8102,N,-12158.3546,W,1,03,00.5,068.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220552.00,,,,,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,220552.04,3648.8107,N,-12158.3543,W,1,03,00.5,067.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220553.04,3648.8113,N,-12158.3542,W,1,03,00.5,069.0,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,220554.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220554.04,3648.8118,N,-12158.3541,W,1,03,00.5,069.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220555.00,,,,,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,220555.04,3648.8124,N,-12158.3542,W,1,03,00.5,069.2,M,-99.9,M,,*44 : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4074680.95, 591640.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220556.04,3648.8130,N,-12158.3544,W,1,03,00.5,070.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1710.00 : -17.00 : Estimated East Bias at time = 1710.00 : 9.00 : Estimated Depth Bias at time = 1710.00 : -0.82 : Estimated northing and easting = 4074663.95 : 591649.74 : AshtechGps::processRecord() - $GPGGA,220557.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220557.04,3648.8136,N,-12158.3547,W,1,03,00.5,070.2,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,220558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220558.04,3648.8141,N,-12158.3551,W,1,03,00.5,070.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220559.00,,,,,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,220559.04,3648.8145,N,-12158.3555,W,1,03,00.5,071.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220600.04,3648.8149,N,-12158.3559,W,1,03,00.5,071.6,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,220601.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220601.04,3648.8151,N,-12158.3564,W,1,03,00.5,072.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220602.00,,,,,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,220602.04,3648.8153,N,-12158.3569,W,1,03,00.5,072.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,220603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220603.04,3648.8153,N,-12158.3576,W,1,03,00.5,072.9,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,220604.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220604.04,3648.8153,N,-12158.3583,W,1,03,00.5,073.1,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,220605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220605.04,3648.8153,N,-12158.3591,W,1,03,00.5,073.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 1720.002172 : TerrainNav update at dvl time = 1720.002172 : _navData-> (x,y) = (4074685.65, 591633.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220606.00,,,,,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,220606.04,3648.8152,N,-12158.3598,W,1,03,00.5,073.7,M,-99.9,M,,*49 : Estimated North Bias at time = 1720.00 : -17.00 : Estimated East Bias at time = 1720.00 : 10.00 : Estimated Depth Bias at time = 1720.00 : -0.51 : Estimated northing and easting = 4074668.65 : 591643.09 : AshtechGps::processRecord() - $GPGGA,220607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220607.04,3648.8150,N,-12158.3605,W,1,03,00.5,074.0,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,220608.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220608.04,3648.8147,N,-12158.3610,W,1,03,00.5,075.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220609.00,,,,,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,220609.04,3648.8144,N,-12158.3614,W,1,03,00.5,077.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220610.04,3648.8139,N,-12158.3618,W,1,03,00.5,076.3,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,220611.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220611.04,3648.8134,N,-12158.3622,W,1,03,00.5,076.6,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,220612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 1773.798486) Behavior ascend:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 1773.998473) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1773.998473) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 1773.998473) Behavior missionTimer:-1 has changed to state Active : NMEA Update: $GPGGA,220612.03,3648.8128,N,-12158.3624,W,1,03,00.5,077.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220613.03,3648.8122,N,-12158.3625,W,1,03,00.5,077.4,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,220614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220614.03,3648.8116,N,-12158.3626,W,1,03,00.5,077.7,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,220615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220615.03,3648.8110,N,-12158.3628,W,1,03,00.5,076.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 1730.001487 : TerrainNav update at dvl time = 1730.001487 : _navData-> (x,y) = (4074677.22, 591627.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220616.00,,,,,0,00,,,M,,M,,*49 : 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,220616.03,3648.8103,N,-12158.3629,W,1,03,00.5,083.6,M,-99.9,M,,*4c : Estimated North Bias at time = 1730.00 : -17.00 : Estimated East Bias at time = 1730.00 : 10.00 : Estimated Depth Bias at time = 1730.00 : -0.78 : Estimated northing and easting = 4074660.22 : 591637.95 : AshtechGps::processRecord() - $GPGGA,220617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220617.03,3648.8097,N,-12158.3629,W,1,03,00.5,079.1,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,220618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220618.03,3648.8092,N,-12158.3628,W,1,03,00.5,076.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220619.00,,,,,0,00,,,M,,M,,*46 : 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,220619.03,3648.8086,N,-12158.3626,W,1,03,00.5,079.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220620.03,3648.8080,N,-12158.3621,W,1,03,00.5,080.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220621.03,3648.8075,N,-12158.3619,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,220622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220622.03,3648.8071,N,-12158.3617,W,1,03,00.5,079.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220623.03,3648.8067,N,-12158.3614,W,1,03,00.5,079.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220624.03,3648.8063,N,-12158.3612,W,1,03,00.5,079.5,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,220625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220625.03,3648.8060,N,-12158.3610,W,1,03,00.5,078.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 1740.000802 : TerrainNav update at dvl time = 1740.000802 : _navData-> (x,y) = (4074668.14, 591630.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220626.00,,,,,0,00,,,M,,M,,*4A : 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,220626.03,3648.8055,N,-12158.3609,W,1,03,00.5,078.2,M,-99.9,M,,*4f : Estimated North Bias at time = 1740.00 : -17.00 : Estimated East Bias at time = 1740.00 : 10.00 : Estimated Depth Bias at time = 1740.00 : -1.13 : Estimated northing and easting = 4074651.14 : 591640.81 : AshtechGps::processRecord() - $GPGGA,220627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220627.03,3648.8051,N,-12158.3605,W,1,03,00.5,079.0,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,220628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220628.03,3648.8047,N,-12158.3601,W,1,03,00.5,078.6,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,220629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220629.03,3648.8044,N,-12158.3598,W,1,03,00.5,078.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220630.03,3648.8040,N,-12158.3598,W,1,03,00.5,079.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220631.03,3648.8037,N,-12158.3596,W,1,03,00.5,079.0,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,220632.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220632.03,3648.8033,N,-12158.3594,W,1,03,00.5,079.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220633.03,3648.8029,N,-12158.3590,W,1,03,00.5,078.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220634.03,3648.8024,N,-12158.3588,W,1,03,00.5,077.7,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,220635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220635.03,3648.8021,N,-12158.3585,W,1,03,00.5,079.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 1750.000117 : TerrainNav update at dvl time = 1750.000117 : _navData-> (x,y) = (4074661.06, 591634.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220636.03,3648.8017,N,-12158.3582,W,1,03,00.5,080.6,M,-99.9,M,,*4b : Estimated North Bias at time = 1750.00 : -16.00 : Estimated East Bias at time = 1750.00 : 10.00 : Estimated Depth Bias at time = 1750.00 : -2.33 : Estimated northing and easting = 4074645.06 : 591644.74 : AshtechGps::processRecord() - $GPGGA,220637.00,,,,,0,00,,,M,,M,,*4A : 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,220637.03,3648.8015,N,-12158.3578,W,1,03,00.5,079.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220638.03,3648.8012,N,-12158.3576,W,1,03,00.5,079.3,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,220639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,220639.03,3648.8009,N,-12158.3576,W,1,03,00.5,079.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220640.00,,,,,0,00,,,M,,M,,*4A : 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,220640.03,3648.8007,N,-12158.3575,W,1,03,00.5,079.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220641.00,3648.75160,N,12158.34217,W,1,09,0.9,-1.32,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220641.03,3648.7515,N,-12158.3421,W,1,03,00.5,078.0,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,220642.00,3648.75149,N,12158.34186,W,1,09,0.9,-1.94,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220642.03,3648.7514,N,-12158.3418,W,1,03,00.5,080.5,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,220643.00,3648.75147,N,12158.34174,W,1,09,0.9,-1.96,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220643.03,3648.7514,N,-12158.3416,W,1,03,00.5,078.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220644.00,3648.75120,N,12158.34166,W,1,09,0.9,-2.77,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220644.03,3648.7511,N,-12158.3416,W,1,03,00.5,079.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220645.00,3648.75085,N,12158.34143,W,1,09,0.9,-2.51,M,-32.96,M,,*79 : NMEA Update: $GPGGA,220645.03,3648.7508,N,-12158.3414,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 : TerrainNav update at nav time = 1759.999432 : TerrainNav update at dvl time = 1759.999432 : _navData-> (x,y) = (4074566.74, 591661.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220646.00,3648.75056,N,12158.34115,W,1,09,0.9,-2.56,M,-32.96,M,,*70 : NMEA Update: $GPGGA,220646.03,3648.7505,N,-12158.3411,W,1,03,00.5,079.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220647.00,3648.75031,N,12158.34084,W,1,09,0.9,-2.30,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220647.03,3648.7503,N,-12158.3408,W,1,03,00.5,079.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220648.00,3648.74998,N,12158.34069,W,1,09,0.9,-2.31,M,-32.96,M,,*7F : NMEA Update: $GPGGA,220648.03,3648.7499,N,-12158.3406,W,1,03,00.5,078.5,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,220649.00,3648.74978,N,12158.34057,W,1,09,0.9,-2.35,M,-32.96,M,,*79 : NMEA Update: $GPGGA,220649.03,3648.7497,N,-12158.3406,W,1,03,00.5,079.1,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,220650.00,3648.74963,N,12158.34048,W,1,09,0.9,-2.34,M,-32.96,M,,*74 : NMEA Update: $GPGGA,220650.03,3648.7496,N,-12158.3405,W,1,03,00.5,078.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220651.00,3648.74933,N,12158.34011,W,1,09,0.9,-2.16,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220651.03,3648.7493,N,-12158.3401,W,1,03,00.5,079.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220652.00,3648.74889,N,12158.33985,W,1,09,0.9,-1.79,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220652.03,3648.7488,N,-12158.3398,W,1,03,00.5,078.6,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,220653.00,3648.74857,N,12158.33942,W,1,09,0.9,-1.70,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220653.03,3648.7485,N,-12158.3393,W,1,03,00.5,079.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220654.00,3648.74828,N,12158.33909,W,1,09,0.9,-1.92,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220654.03,3648.7482,N,-12158.3390,W,1,03,00.5,078.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,220655.00,3648.74803,N,12158.33892,W,1,09,0.9,-2.37,M,-32.96,M,,*7D : NMEA Update: $GPGGA,220655.03,3648.7480,N,-12158.3389,W,1,03,00.5,078.0,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,220656.00,3648.74785,N,12158.33895,W,1,09,0.9,-2.55,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220656.03,3648.7478,N,-12158.3390,W,1,03,00.5,078.1,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,220657.00,3648.74763,N,12158.33912,W,1,09,0.9,-2.25,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220657.03,3648.7476,N,-12158.3391,W,1,03,00.5,079.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220658.00,3648.74745,N,12158.33874,W,1,09,0.9,-1.86,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220658.03,3648.7474,N,-12158.3387,W,1,03,00.5,080.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220659.00,3648.74723,N,12158.33862,W,1,09,0.9,-1.65,M,-32.96,M,,*77 : NMEA Update: $GPGGA,220659.03,3648.7472,N,-12158.3386,W,1,03,00.5,077.6,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,220700.00,3648.74705,N,12158.33807,W,1,09,0.9,-1.43,M,-32.96,M,,*79 : NMEA Update: $GPGGA,220700.03,3648.7470,N,-12158.3380,W,1,03,00.5,079.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220701.00,3648.74670,N,12158.33779,W,1,09,0.9,-1.42,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220701.03,3648.7467,N,-12158.3377,W,1,03,00.5,081.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220702.00,3648.74637,N,12158.33735,W,1,09,0.9,-1.61,M,-32.96,M,,*75 : NMEA Update: $GPGGA,220702.03,3648.7463,N,-12158.3373,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,220703.00,3648.74618,N,12158.33710,W,1,09,0.9,-1.88,M,-32.96,M,,*79 : NMEA Update: $GPGGA,220703.03,3648.7461,N,-12158.3370,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,220704.00,3648.74603,N,12158.33700,W,1,09,0.9,-2.57,M,-32.96,M,,*74 : NMEA Update: $GPGGA,220704.03,3648.7460,N,-12158.3369,W,1,03,00.5,077.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220705.00,3648.74581,N,12158.33714,W,1,09,0.9,-2.48,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220705.03,3648.7458,N,-12158.3372,W,1,03,00.5,080.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,220706.00,3648.74566,N,12158.33710,W,1,09,0.9,-1.82,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220706.03,3648.7456,N,-12158.3371,W,1,03,00.5,075.8,M,-99.9,M,,*49 : Estimated North Bias at time = 1760.00 : -16.00 : Estimated East Bias at time = 1760.00 : 11.00 : Estimated Depth Bias at time = 1760.00 : -2.33 : Estimated northing and easting = 4074550.74 : 591672.08 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220707.00,3648.74545,N,12158.33676,W,1,09,0.9,-1.67,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220707.03,3648.7454,N,-12158.3367,W,1,03,00.5,079.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,220708.00,3648.74521,N,12158.33647,W,1,09,0.9,-1.90,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220708.03,3648.7452,N,-12158.3364,W,1,03,00.5,078.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220709.00,3648.74499,N,12158.33647,W,1,09,0.9,-1.97,M,-32.96,M,,*75 : NMEA Update: $GPGGA,220709.03,3648.7449,N,-12158.3365,W,1,03,00.5,079.2,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,220710.00,3648.74487,N,12158.33620,W,1,09,0.9,-1.84,M,-32.96,M,,*71 : NMEA Update: $GPGGA,220710.03,3648.7448,N,-12158.3362,W,1,03,00.5,077.9,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,220711.00,3648.74468,N,12158.33612,W,1,09,0.9,-1.98,M,-32.96,M,,*7D : NMEA Update: $GPGGA,220711.03,3648.7447,N,-12158.3361,W,1,03,00.5,080.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220712.00,3648.74437,N,12158.33594,W,1,09,0.9,-1.85,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220712.03,3648.7443,N,-12158.3359,W,1,03,00.5,075.8,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,220713.00,3648.74404,N,12158.33573,W,1,09,0.9,-1.57,M,-32.96,M,,*72 : NMEA Update: $GPGGA,220713.03,3648.7440,N,-12158.3357,W,1,03,00.5,083.9,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,220714.00,3648.74374,N,12158.33519,W,1,09,0.9,-1.68,M,-32.96,M,,*75 : NMEA Update: $GPGGA,220714.03,3648.7437,N,-12158.3351,W,1,03,00.5,080.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220715.00,3648.74353,N,12158.33510,W,1,09,0.9,-2.23,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220715.03,3648.7435,N,-12158.3350,W,1,03,00.5,078.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 1789.997377 : TerrainNav update at dvl time = 1789.997377 : _navData-> (x,y) = (4074553.36, 591670.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220716.00,3648.74344,N,12158.33502,W,1,09,0.9,-2.41,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220716.03,3648.7434,N,-12158.3350,W,1,03,00.5,078.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220717.00,3648.74325,N,12158.33505,W,1,09,0.9,-2.03,M,-32.96,M,,*71 : Estimated North Bias at time = 1790.00 : -16.00 : Estimated East Bias at time = 1790.00 : 11.00 : Estimated Depth Bias at time = 1790.00 : -3.69 : Estimated northing and easting = 4074537.36 : 591681.55 : NMEA Update: $GPGGA,220717.03,3648.7432,N,-12158.3351,W,1,03,00.5,079.0,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,220718.00,3648.74310,N,12158.33483,W,1,09,0.9,-2.02,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220718.03,3648.7431,N,-12158.3348,W,1,03,00.5,079.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,220719.00,3648.74297,N,12158.33481,W,1,09,0.9,-1.94,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220719.03,3648.7430,N,-12158.3348,W,1,03,00.5,079.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220720.00,3648.74280,N,12158.33452,W,1,09,0.9,-1.62,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220720.03,3648.7428,N,-12158.3345,W,1,03,00.5,079.0,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,220721.00,3648.74263,N,12158.33409,W,1,09,0.9,-1.44,M,-32.96,M,,*7A : NMEA Update: $GPGGA,220721.03,3648.7426,N,-12158.3340,W,1,03,00.5,079.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220722.00,3648.74244,N,12158.33386,W,1,09,0.9,-1.90,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220722.03,3648.7424,N,-12158.3338,W,1,03,00.5,079.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,220723.00,3648.74226,N,12158.33372,W,1,09,0.9,-2.08,M,-32.96,M,,*79 : NMEA Update: $GPGGA,220723.03,3648.7422,N,-12158.3337,W,1,03,00.5,078.3,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,220724.00,3648.74208,N,12158.33359,W,1,09,0.9,-2.06,M,-32.96,M,,*75 : NMEA Update: $GPGGA,220724.03,3648.7421,N,-12158.3336,W,1,03,00.5,078.9,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,220725.00,3648.74188,N,12158.33317,W,1,09,0.9,-1.95,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220725.03,3648.7418,N,-12158.3331,W,1,03,00.5,078.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4074550.34, 591673.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220726.00,3648.74165,N,12158.33299,W,1,09,0.9,-2.56,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220726.03,3648.7416,N,-12158.3329,W,1,03,00.5,078.6,M,-99.9,M,,*41 : Estimated North Bias at time = 1800.00 : -16.00 : Estimated East Bias at time = 1800.00 : 11.00 : Estimated Depth Bias at time = 1800.00 : -4.75 : Estimated northing and easting = 4074534.34 : 591684.60 : AshtechGps::processRecord() - $GPGGA,220727.00,3648.74137,N,12158.33300,W,1,09,0.9,-2.83,M,-32.96,M,,*78 : NMEA Update: $GPGGA,220727.03,3648.7413,N,-12158.3330,W,1,03,00.5,078.9,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,220728.00,3648.74107,N,12158.33300,W,1,08,1.0,-2.27,M,-32.96,M,,*73 : NMEA Update: $GPGGA,220728.03,3648.7410,N,-12158.3330,W,1,03,00.5,078.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220729.00,3648.74093,N,12158.33286,W,1,08,1.0,-2.14,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220729.03,3648.7409,N,-12158.3328,W,1,03,00.5,078.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220730.00,3648.74068,N,12158.33268,W,1,08,1.0,-1.88,M,-32.96,M,,*7B : NMEA Update: $GPGGA,220730.03,3648.7406,N,-12158.3327,W,1,03,00.5,077.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220731.00,3648.74051,N,12158.33266,W,1,08,1.0,-2.06,M,-32.96,M,,*7B : NMEA Update: $GPGGA,220731.03,3648.7405,N,-12158.3327,W,1,03,00.5,078.7,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,220732.00,3648.74031,N,12158.33251,W,1,08,1.0,-1.65,M,-32.96,M,,*7C : NMEA Update: $GPGGA,220732.03,3648.7403,N,-12158.3325,W,1,03,00.5,078.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220733.00,3648.74012,N,12158.33222,W,1,08,1.0,-1.37,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220733.03,3648.7401,N,-12158.3322,W,1,03,00.5,079.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220734.00,3648.74003,N,12158.33201,W,1,08,1.0,-1.19,M,-32.96,M,,*75 : NMEA Update: $GPGGA,220734.03,3648.7400,N,-12158.3320,W,1,03,00.5,078.9,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,220735.00,3648.73981,N,12158.33172,W,1,08,1.0,-0.77,M,-32.96,M,,*7E : NMEA Update: $GPGGA,220735.03,3648.7398,N,-12158.3317,W,1,03,00.5,078.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 1809.996007 : TerrainNav update at dvl time = 1809.996007 : _navData-> (x,y) = (4074546.56, 591675.74) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1810.00 : -15.00 : Estimated East Bias at time = 1810.00 : 12.00 : Estimated Depth Bias at time = 1810.00 : -4.74 : Estimated northing and easting = 4074531.56 : 591687.74 : AshtechGps::processRecord() - $GPGGA,220736.00,3648.73983,N,12158.33162,W,1,08,1.0,-1.25,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220736.03,3648.7398,N,-12158.3316,W,1,03,00.5,078.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,220737.00,3648.73971,N,12158.33138,W,1,08,1.0,-1.24,M,-32.96,M,,*7A : NMEA Update: $GPGGA,220737.03,3648.7397,N,-12158.3314,W,1,03,00.5,079.9,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,220738.00,3648.73965,N,12158.33128,W,1,09,0.9,-1.45,M,-32.96,M,,*7F : NMEA Update: $GPGGA,220738.03,3648.7396,N,-12158.3313,W,1,03,00.5,080.6,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,220739.00,3648.73960,N,12158.33093,W,1,09,0.9,-1.30,M,-32.96,M,,*78 : NMEA Update: $GPGGA,220739.03,3648.7396,N,-12158.3309,W,1,03,00.5,078.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220740.00,3648.73937,N,12158.33078,W,1,09,0.9,-1.57,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220740.03,3648.7393,N,-12158.3307,W,1,03,00.5,079.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,220741.00,3648.73902,N,12158.33075,W,1,09,0.9,-1.43,M,-32.96,M,,*7F : NMEA Update: $GPGGA,220741.03,3648.7390,N,-12158.3307,W,1,03,00.5,077.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220742.00,3648.73889,N,12158.33070,W,1,09,0.9,-2.04,M,-32.96,M,,*7B : NMEA Update: $GPGGA,220742.03,3648.7389,N,-12158.3307,W,1,03,00.5,079.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,220743.00,3648.73867,N,12158.33054,W,1,09,0.9,-1.82,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220743.03,3648.7386,N,-12158.3305,W,1,03,00.5,077.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220744.00,3648.73848,N,12158.33031,W,1,09,0.9,-1.90,M,-32.96,M,,*7B : NMEA Update: $GPGGA,220744.03,3648.7384,N,-12158.3303,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,220745.00,3648.73835,N,12158.33018,W,1,09,0.9,-2.39,M,-32.96,M,,*7B : NMEA Update: $GPGGA,220745.03,3648.7383,N,-12158.3302,W,1,03,00.5,078.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 1819.995322 : TerrainNav update at dvl time = 1819.995322 : _navData-> (x,y) = (4074543.86, 591677.98) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,220746.00,3648.73829,N,12158.33028,W,1,09,0.9,-2.38,M,-32.96,M,,*77 : NMEA Update: $GPGGA,220746.03,3648.7383,N,-12158.3303,W,1,03,00.5,079.3,M,-99.9,M,,*40 : Estimated North Bias at time = 1820.00 : -15.00 : Estimated East Bias at time = 1820.00 : 12.00 : Estimated Depth Bias at time = 1820.00 : -5.20 : Estimated northing and easting = 4074528.86 : 591689.98 : AshtechGps::processRecord() - $GPGGA,220747.00,3648.73817,N,12158.33021,W,1,09,0.9,-1.74,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220747.03,3648.7382,N,-12158.3302,W,1,03,00.5,078.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,220748.00,3648.73806,N,12158.32995,W,1,09,0.9,-1.51,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,220748.03,3648.7380,N,-12158.3299,W,1,03,00.5,079.3,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,220749.00,3648.73787,N,12158.32957,W,1,09,0.9,-1.21,M,-32.96,M,,*78 : NMEA Update: $GPGGA,220749.03,3648.7378,N,-12158.3295,W,1,03,00.5,079.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220750.00,3648.73770,N,12158.32920,W,1,09,0.9,-0.95,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220750.03,3648.7377,N,-12158.3291,W,1,03,00.5,079.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,220751.00,3648.73756,N,12158.32879,W,1,09,0.9,-1.20,M,-32.96,M,,*71 : NMEA Update: $GPGGA,220751.03,3648.7375,N,-12158.3287,W,1,03,00.5,079.5,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,220752.00,3648.73756,N,12158.32857,W,1,09,0.9,-1.60,M,-32.96,M,,*7A : NMEA Update: $GPGGA,220752.03,3648.7375,N,-12158.3285,W,1,03,00.5,078.4,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,220753.00,3648.73748,N,12158.32852,W,1,09,0.9,-2.22,M,-32.96,M,,*74 : NMEA Update: $GPGGA,220752.84,3648.7376,N,-12158.3286,W,1,03,00.5,080.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220754.00,3648.73745,N,12158.32864,W,1,09,0.9,-2.24,M,-32.96,M,,*7D : NMEA Update: $GPGGA,220753.84,3648.7375,N,-12158.3285,W,1,03,00.5,079.3,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,220755.00,3648.73739,N,12158.32863,W,1,09,0.9,-2.11,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220754.84,3648.7375,N,-12158.3287,W,1,03,00.5,078.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1829.994637 : TerrainNav update at dvl time = 1829.994637 : _navData-> (x,y) = (4074542.18, 591680.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,220756.00,3648.73722,N,12158.32855,W,1,09,0.9,-1.80,M,-32.96,M,,*71 : NMEA Update: $GPGGA,220755.84,3648.7374,N,-12158.3286,W,1,03,00.5,079.1,M,-99.9,M,,*4b : Estimated North Bias at time = 1829.99 : -15.00 : Estimated East Bias at time = 1829.99 : 12.00 : Estimated Depth Bias at time = 1829.99 : -5.22 : Estimated northing and easting = 4074527.18 : 591692.30 : AshtechGps::processRecord() - $GPGGA,220757.00,3648.73703,N,12158.32831,W,1,09,0.9,-1.51,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220756.84,3648.7372,N,-12158.3285,W,1,03,00.5,077.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,220758.00,3648.73684,N,12158.32805,W,1,09,0.9,-1.77,M,-32.96,M,,*7F : NMEA Update: $GPGGA,220757.84,3648.7370,N,-12158.3282,W,1,03,00.5,079.0,M,-99.9,M,,*48 : 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,220759.00,3648.73664,N,12158.32799,W,1,09,0.9,-1.98,M,-32.96,M,,*7B : NMEA Update: $GPGGA,220758.84,3648.7368,N,-12158.3280,W,1,03,00.5,078.7,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,220800.00,3648.73647,N,12158.32784,W,1,09,0.9,-1.72,M,-32.96,M,,*71 : NMEA Update: $GPGGA,220759.84,3648.7366,N,-12158.3280,W,1,03,00.5,078.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,220801.00,3648.73618,N,12158.32778,W,1,09,0.9,-1.20,M,-32.96,M,,*7E : NMEA Update: $GPGGA,220800.84,3648.7364,N,-12158.3278,W,1,03,00.5,078.4,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,220802.00,3648.73602,N,12158.32744,W,1,09,0.9,-1.54,M,-32.96,M,,*7A : NMEA Update: $GPGGA,220801.84,3648.7361,N,-12158.3277,W,1,03,00.5,079.2,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,220803.00,3648.73580,N,12158.32728,W,1,09,0.9,-1.47,M,-32.96,M,,*7A : NMEA Update: $GPGGA,220802.84,3648.7360,N,-12158.3274,W,1,03,00.5,078.4,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,220804.00,3648.73571,N,12158.32703,W,1,09,0.9,-1.63,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220803.84,3648.7358,N,-12158.3272,W,1,03,00.5,079.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,220805.00,3648.73565,N,12158.32699,W,1,09,0.9,-1.91,M,-32.96,M,,*77 : NMEA Update: $GPGGA,220804.84,3648.7357,N,-12158.3270,W,1,03,00.5,079.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1839.993952 : TerrainNav update at dvl time = 1839.993952 : _navData-> (x,y) = (4074538.99, 591682.77) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1839.99 : -15.00 : Estimated East Bias at time = 1839.99 : 12.00 : Estimated Depth Bias at time = 1839.99 : -5.22 : Estimated northing and easting = 4074523.99 : 591694.77 : AshtechGps::processRecord() - $GPGGA,220806.00,3648.73570,N,12158.32706,W,1,09,0.9,-1.90,M,-32.96,M,,*76 : NMEA Update: $GPGGA,220805.84,3648.7357,N,-12158.3270,W,1,03,00.5,078.6,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,220807.00,3648.73565,N,12158.32692,W,1,09,0.9,-1.57,M,-32.96,M,,*74 : NMEA Update: $GPGGA,220806.84,3648.7357,N,-12158.3271,W,1,03,00.5,078.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,220808.00,3648.73561,N,12158.32666,W,1,09,0.9,-1.21,M,-32.96,M,,*75 : NMEA Update: $GPGGA,220807.84,3648.7356,N,-12158.3269,W,1,03,00.5,079.3,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,220809.00,3648.73540,N,12158.32637,W,1,09,0.9,-1.43,M,-32.96,M,,*77 : NMEA Update: $GPGGA,220808.84,3648.7356,N,-12158.3266,W,1,03,00.5,080.2,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,220810.00,3648.73531,N,12158.32618,W,1,09,0.9,-1.51,M,-32.96,M,,*77 : NMEA Update: $GPGGA,220809.84,3648.7354,N,-12158.3263,W,1,03,00.5,078.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220811.00,3648.73519,N,12158.32602,W,1,09,0.9,-1.73,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,220810.84,3648.7353,N,-12158.3261,W,1,03,00.5,078.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,220812.00,3648.73523,N,12158.32590,W,1,10,0.9,-1.65,M,-32.96,M,,*7A : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000433E0. : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task 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 LayeredControlIFServer - exit() on signal 18 : 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 **** : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** 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 BenthosModemOutout **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task FanIFServer - exit() on signal 18 : TaskServer::signalHandler() - _theTaskServer doesn't exist : 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 (2) failed to read chars, rcvd=3, want=8 : StepGetStat (2) dd 18 18 00 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****